Minimally invasive surgical devices and methods

ABSTRACT

Surgical tools for use during scarless or near scarless surgical procedures. At least some of the surgical tools can include a handle portion and a working end removably connected to the handle portion.

CROSS-REFERENCE TO RELATED APPLICATIONS

This present application is a continuation of U.S. patent applicationSer. No. 14/639,551, filed Mar. 5, 2015, titled “MINIMALLY INVASIVESURGICAL DEVICES AND METHODS,” which is a continuation of U.S. patentapplication Ser. No. 14/250,244, filed Apr. 10, 2014, titled “MINIMALLYINVASIVE SURGICAL DEVICES AND METHODS,” and which claims priority andbenefit under 35 U.S.C. § 119(e) to U.S. Provisional Application No.61/811,092, filed Apr. 11, 2013, titled “MINIMALLY INVASIVE SURGICALDEVICES AND METHODS,” each of which is hereby incorporated by referenceherein in its entirety.

BACKGROUND Field

The present disclosure relates to minimally invasive surgical devicesand methods.

Description of the Related Art

Abdominal surgery is used to treat various diseases and conditions. Thesurgical methods can include creating one or more incisions that canaccommodate different tools. Certain known techniques for performingabdominal surgery suffer from various drawbacks.

SUMMARY

Traditional laparoscopic surgery can require multiple incisions for eachtool used during the procedure. Each incision can have a length betweenabout 1 to 2 cm. Although these incisions are smaller than traditionalopen surgery incisions, laparoscopic surgery still leaves behindmultiple scars. Accordingly, there is still a need for surgical toolsthat leave behind no visible scars and/or reduce the total number ofincisions necessary to perform a procedure.

Certain aspects of the present disclosure are directed toward a surgicaltool that leaves behind no visible scars. The surgical tool can includea handle portion having a central shaft and a plurality of stabilizingshafts surrounding the central shaft. The scarless surgical tool caninclude a working end configured to be removably secured to the handleportion. The working end can include a securing member at a proximalportion of the working end, a housing portion configured to receive adistal portion of the central shaft, and a tool portion at a distalportion of the working end. The securing member can be configured to besecured to the plurality of stabilizing shafts. The central shaft can beconfigured to control movement of the tool portion when the working endis secured to the handle portion.

In the above-mentioned surgical tool, the securing member can surroundthe central shaft when the securing member is secured to the pluralityof stabilizing shafts.

In any of the above-mentioned surgical tools, each of the plurality ofstabilizing shafts can have a diameter of less than or equal to about1.0 mm. In certain aspects, each of the plurality of stabilizing shaftscan be hollow. In certain variants, each of the plurality of stabilizingshafts can be solid.

In any of the above-mentioned surgical tools, each of the stabilizingshafts can have a sharpened distal tip capable of forming an opening. Incertain variants, each of the stabilizing shafts can have a sphericalend to prevent injury.

In any of the above-mentioned surgical tools, a length of the centralshaft can be longer than a length of each of the plurality ofstabilizing shafts.

In any of the above-mentioned surgical tools, the securing member caninclude a locking mechanism that can fix the position of the pluralityof stabilizing shafts relative to each other. In certain aspects, thelocking mechanism can include a retaining ring that can form a frictionfit with the securing member.

In any of the above-mentioned surgical tools, the working end caninclude a slide member positioned in the housing portion. The slidemember can control movement of the tool portion. In certain aspects, theslide member can receive the distal portion of the central shaft, suchthat the slide member is positioned radially between the central shaftand the housing.

In any of the above-mentioned surgical tools, the tool portion can begraspers, and axial movement of the central shaft can move the graspersbetween an open configuration and a closed configuration.

Certain aspects of the present disclosure are directed toward a methodof using a scarless surgical tool having any of the features describedherein. For example, the scarless surgical tool can include a handleportion and a working end. The handle portion can include a plurality ofstabilizing shafts surrounding a central shaft. The working end caninclude a securing member at a proximal portion of the working end, ahousing portion extending from the securing member, and a tool portionat a distal portion of the working end. The method can include securingthe proximal portion of the working end to the handle portion, andpositioning a distal portion of the central shaft in the housing portionof the working end. The central shaft can be configured to controlmovement of the tool portion when the working end is secured to thehandle portion. Securing the proximal portion of the working end to thehandle portion can include securing the securing member to the pluralityof stabilizing shafts.

In the above-mentioned method, securing the securing member to theplurality of stabilizing shafts can include locking the position of theplurality of stabilizing shafts relative to each other. In certainaspects, locking the position of the plurality of stabilizing shaftsrelative to each other can include forming a friction fit between aretaining ring and the securing member. The plurality of stabilizingshafts can be positioned radially between the retaining ring an outerperiphery of the securing member.

In any of the above-mentioned methods, positioning the distal portion ofthe central shaft in the housing portion can include positioning thecentral shaft in a slide member, such that the slide member ispositioned radially between the central shaft and the housing. The slidemember can control movement of the tool portion.

Certain aspects of this disclosure are directed toward a surgical toolhaving a handle portion including a shaft portion and a push rodslidably disposed within the shaft portion. The surgical tool caninclude a working end removably connected to a distal portion of theshaft portion.

In certain aspects, the working end can include a housing portionconfigured to receive a distal portion of the shaft portion. A slidemember can be at least partially disposed within the housing portion.The slide member can include a receiving portion configured to receive adistal portion of the push rod. In some configurations, a nut canthreadably engage the housing portion. A ferrule can be coaxiallypositioned between the nut and the shaft portion.

In certain aspects, the working end can include a housing portionconfigured to threadably engage a distal portion of the shaft portion.The working end can include a slide member at least partially disposedwithin the housing portion. The slide member can be configured tothreadably engage a distal portion of the push rod.

In certain aspects, the working end can include a slide member at leastpartially disposed within a housing portion. The slide member caninclude a receiving portion configured to receive a distal portion ofthe push rod. In some configurations, a nut can secure the housingportion to the shaft portion. The nut can threadably engage a distalportion of the shaft portion.

In certain aspects, the working end can include a housing portionconfigured to threadably engage a distal portion of the push rod. Aslide member can be at least partially disposed within the housingportion. The slide member can include a receiving portion configured toreceive a distal portion of the push rod.

Certain aspects of this disclosure are directed toward a clip holderhaving a cartridge body secured to a shaft portion. The cartridge bodycan include one or more openings configured to receive one or moresurgical clips. Each opening can be sized to permit at least partialdeflection of the one or more surgical clips.

Certain aspects of this disclosure are directed toward a suction toolhaving a suction end secured to a shaft portion. The suction end caninclude a suction tip. A one-way check valve can be positioned withinthe suction tip.

Certain aspects of this disclosure are directed toward a cameraincluding a camera body having a proximal end and a distal end. At leasttwo image sensors can be positioned at a distal end of the camera body.One or more lights can be positioned at the distal end of the body. Thecamera body can define at least one or more lumens configured toremovably engage a control rod.

Certain aspects of this disclosure are directed toward an adjustableport. The adjustable port can include an outer member having a tubularbody and an annular rim disposed at a first end of the outer member. Theouter member can include a first threaded region. An inner member can beslidably disposed within the outer member. The inner member can includea second threaded region configured to threadably engage the firstthreaded region.

For purposes of summarizing the disclosure, certain aspects, advantages,and features of the inventions have been described herein. It is to beunderstood that not necessarily any or all such advantages are achievedin accordance with any particular embodiment of the inventions disclosedherein. No aspects of this disclosure are essential or indispensable.

BRIEF DESCRIPTION OF THE DRAWINGS

Various embodiments are depicted in the accompanying drawings forillustrative purposes, and should in no way be interpreted as limitingthe scope of the embodiments. In addition, various features of differentdisclosed embodiments can be combined to form additional embodiments,which are part of this disclosure.

FIG. 1A illustrates a perspective view of a surgical tool.

FIG. 1B illustrates an enlarged view of the handle portion illustratedin FIG. 1A.

FIG. 1C illustrates a cross section of the handle portion illustrated inFIG. 1B taken along lines 1C-1C.

FIG. 1D illustrates an exploded view of the handle portion.

FIG. 1E illustrates the surgical tool introduced into the abdomen nearthe appendix.

FIG. 1F illustrates the surgical tool introduced into the abdomen near akidney.

FIG. 2A illustrates a perspective view of a grasper tool in a closedconfiguration.

FIG. 2B illustrates a cross-section of the grasper tool shown in FIG. 2Ataken along line 2B-2B.

FIG. 2C illustrates a perspective view of the grasper tool shown in FIG.2A in an opened configuration.

FIG. 2D illustrates a cross-section of the grasper tool shown in FIG. 2Ctaken along line 2D-2D.

FIG. 2E illustrates an exploded view of the grasper tool shown in FIGS.2A-2D.

FIG. 2F illustrates a ferrule that can be used with the grasper toolshown in FIGS. 2A-2D.

FIG. 2G illustrates an alternate jaw member shape for the grasper toolshown in FIGS. 2A-2D used to apply a locking clip.

FIGS. 2H-2J illustrate yet another alternate jaw member shape for thegrasper tool shown in FIGS. 2A-2D for a needle driver.

FIG. 3A illustrates a perspective view of a dissector tool in a closedconfiguration.

FIG. 3B illustrates a cross-section of the dissector tool shown in FIG.3A taken along line 3B-3B.

FIG. 3C illustrates a perspective view of the dissector tool shown inFIG. 3A in an opened configuration.

FIG. 3D illustrates a cross-section of the dissector tool shown in FIG.3C taken along line 3D-3D.

FIG. 3E illustrates an exploded view of the scissor tool shown in FIG.3A.

FIG. 4A illustrates a perspective view of a scissor tool in a closedconfiguration.

FIG. 4B illustrates a cross-section of the scissor tool shown in FIG. 4Ataken along line 4B-4B.

FIG. 4C illustrates a perspective view of the scissor tool shown in FIG.4A in an opened configuration.

FIG. 4D illustrates a cross-section of the scissor tool shown in FIG. 4Ctaken along line 4D-4D.

FIG. 4E illustrates an exploded view of the scissor tool shown in FIG.4A.

FIG. 5A illustrates an elevational view of another grasper tool.

FIG. 5B illustrates a cross-section of the grasper tool shown in FIG. 5Ataken along line 5B-5B.

FIG. 5C illustrates an exploded view of the grasper tool shown in FIG.5A.

FIG. 6A illustrates a perspective view of yet another grasper tool.

FIG. 6B illustrates a cross-section of the grasper tool shown in FIG. 6Ataken along line 6B-6B.

FIG. 6C illustrates an exploded view of the grasper tool shown in FIG.6A.

FIG. 7A illustrates a perspective view of another embodiment of agrasper tool.

FIG. 7B illustrates a cross-section of the grasper tool shown in FIG. 7Ataken along line 7B-7B.

FIG. 7C illustrates an exploded view of the grasper tool shown in FIG.7A.

FIG. 8A illustrates a perspective view of yet another embodiment of agrasper tool.

FIG. 8B illustrates a cross-section of the grasper tool shown in FIG. 8Ataken along line 8B-8B.

FIG. 8C illustrates an exploded view of the grasper tool shown in FIG.8A.

FIG. 9A illustrates a top view of a clip holder holding a plurality ofclips.

FIG. 9B illustrates a perspective view of a clip holder holding aplurality of clips.

FIG. 9C illustrates an elevational view of a distal end of the clipholder.

FIG. 9D illustrates a cross-section of the clip holder shown in FIG. 9Ataken along line 9D-9D.

FIG. 9E illustrates a perspective view of the clip holder shown in FIG.9B without any clips.

FIG. 10 illustrates a perspective view of a suction tool.

FIG. 11A illustrates a perspective view of a suction end.

FIG. 11B illustrates an exploded view of the suction end shown in FIG.11A.

FIG. 11C illustrates a cross-section of the suction end shown in FIG.11A taken along line 11C-11C in a closed configuration.

FIG. 11D illustrates a cross-section of the suction end shown in FIG.11A taken along line 11D-11D in an opened configuration.

FIG. 12A illustrates a perspective view of another suction end.

FIG. 12B illustrates an exploded view of the suction end shown in FIG.12A.

FIG. 12C illustrates a cross-section of the suction end shown in FIG.12A taken along line 12C-12C in a closed configuration.

FIG. 12D illustrates a cross-section of the suction end shown in FIG.12A taken along line 12D-12D in an opened configuration.

FIG. 13A illustrates a perspective view of a surgical tool having alocking clip to ensure that the tip does not fall off inside the patientin an opened configuration.

FIG. 13B illustrates the surgical tool shown in FIG. 13A in a closedconfiguration.

FIG. 13C illustrates a cross-section of a different locking clipmechanism to hold the interchangeable surgical tool heads in place in anopened configuration.

FIG. 13D illustrates the cross-section of the surgical tool and thec-clip shown in FIG. 13C in a closed configuration.

FIG. 13E illustrates a cross-section of a surgical tool and a leafspring clip used to hold the interchangeable tool heads in place.

FIG. 13F illustrates a different cross-section of the surgical tool andthe leaf spring clip shown in FIG. 13E.

FIG. 13G illustrates a cross-section of a surgical tool and a wedgespread clip in an opened configuration.

FIG. 13H illustrates a cross-section of the surgical tool and the wedgespread clip shown in FIG. 13G in a closed configuration.

FIG. 13I illustrates a cross-section of a surgical tool and a G-clip inan opened configuration.

FIG. 13J illustrates a cross-section of the surgical tool and the G-clipshown in FIG. 13I in a closed configuration.

FIG. 14A illustrates an elevational view of an electrocautery tool.

FIG. 14B illustrates an enlarged view of a connection portion of theelectrocautery tool shown in FIG. 14A.

FIG. 14C illustrates an enlarged view of the hook electrode assembly ofthe electrocautery tool shown in FIG. 14A.

FIG. 14D illustrates a top view of the hook electrode assembly shown inFIG. 14C.

FIG. 14E illustrates a cross-section of the hook electrode assemblyshown in FIG. 14D taken along line 14E-14E.

FIG. 15A illustrates a front perspective view of a camera in a firstconfiguration.

FIG. 15B illustrates a front perspective view of the camera shown inFIG. 15A and in a second configuration.

FIG. 15C illustrates a front perspective view of the camera shown inFIG. 15A and in a third configuration.

FIG. 15D illustrates a rear perspective view of the camera shown in FIG.15A.

FIG. 15E illustrates the camera shown in FIG. 15A with flexible cords.

FIG. 16A illustrates a cross-section of a surgical tool extendingthrough a port traversing an abdominal wall.

FIG. 16B illustrates a cross-section of a surgical tool extendingthrough an abdominal wall without the standard port.

FIG. 16C illustrates a perspective view of an adjustable port and anadjustment tool used to modify the length of the adjustable port.

FIG. 16D illustrates an exploded view of the adjustable port.

FIGS. 16E thru 16G illustrate the adjustment tool connected to theadjustable port at varying lengths of the adjustable port.

FIGS. 16H thru 16J illustrate cross-sections of the adjustable portshown in FIG. 16A at varying lengths and positioned across the abdominalwall.

FIG. 16K illustrates a faceplate capable of engaging the adjustable portshown in FIG. 16A.

FIG. 17 illustrates a perspective view of a suction end having adiffusion tip, which prevents plugging of the suction device.

FIG. 18A illustrates a perspective view of an insertion tip configuredfor use with the shaft portion shown in FIGS. 5A-5C.

FIG. 18B illustrates a cross-section of the insertion tip shown in FIG.18A taken along line 18B-18B.

FIG. 18C illustrates an exploded view of the insertion tip shown in FIG.18A.

FIG. 19 illustrates another embodiment of an ergonomic handle portion.

FIG. 20A illustrates a perspective view of another surgical tool.

FIG. 20B illustrates an enlarged view of a distal end of the surgicaltool shown in FIG. 20A.

FIG. 20C illustrates an exploded view of the distal end of the surgicaltool shown in FIG. 20B.

FIGS. 20D illustrates a cross-section of the distal end of the surgicaltool shown in FIG. 20B.

FIG. 20E illustrates distal ends of shaft portions of the surgical toolshown in FIG. 20A.

FIG. 20F illustrates the distal ends of the shaft portions and asecuring member of the surgical tool shown in FIG. 20A.

FIG. 20G illustrates the distal ends of the shaft portions and aretaining ring of the surgical tool shown in FIG. 20A.

DETAILED DESCRIPTION

During open surgery, surgeons make large incisions that allow them toinsert both hands into the abdominal cavity. This traditional opensurgery requires large incisions that can accommodate retractors andtools inserted into the abdominal cavity. However, these large incisionscan slow down the recovery process and leave behind large scars.

During the 1980's and 1990's, a new form of surgery was applied to manydisease processes called laparoscopic surgery. In this form of surgery,several incisions are made which allows placement of multiple ports. Anendoscopic camera and instruments are inserted through these ports toperform the functions previously performed using open instruments.

In some instances, laparoscopic surgery can require four to fiveincisions, each incision having a length of about 1 to 2 cm. Althoughthese incisions are smaller than traditional open surgery incisions,laparoscopic surgery still leaves behind multiple scars each having alength of about 1 to 2 cm.

More recently, a new form of surgery was developed, which is known asLESS (laparoendoscopic single-site surgery). In this form of surgery, asingle incision is created in the crease of the umbilicus. The LESSprocedure incision can be about 2.5 to 3 cm, which can increase recoverytime and increase the likelihood of a hernia.

The LESS procedure can be more difficult to perform than traditionalopen surgery or laparoscopic surgery because of a lack of triangulation.Triangulation is a method of positioning a camera and tools in atriangular fashion to facilitate instrument manipulation and adequatevisualization. For example, during a laparoscopic procedure, the cameracan be introduced through a central port and positioned to adequatelyvisualize the target anatomy, while the tools can be introduced throughlateral ports on either side of the central port to optimize access tothe target anatomy and prevent the tools from colliding. Triangulationcan facilitate natural right and left hand motion.

During the LESS procedure, all of the surgical tools are insertedthrough a single incision. As a result, the surgeon's hands and/or toolscan collide when the surgeon attempts to operate the instruments. Theabsence of triangulation can also disrupt the surgeon's naturalmovement, which can increase the risk of complications and increasetotal surgery time. In addition, the use of a single incision candecrease the number and type of tools that can be used.

The present disclosure is directed toward a minimally invasive surgicalmethod called scarless microport augmented restoration of triangulationsurgery (SMART surgery), which is designed to eliminate the problemsassociated with the surgical methods described above. This minimallyinvasive surgical method can include forming one or more openings havinga diameter of less than or equal to about 3.0 mm, preferably less thanor equal to about 2.5 mm, or in some embodiments, less than or equal toabout 1.5 mm or 1.0 mm. An opening having a diameter of less than orequal to about 3.0 mm will not leak insufflation gas and will not createany permanent scars in 50% of patients based upon research performed inour laboratory.

The one or more openings can be formed, for example, after insufflation,using a scalpel or a tool with an insertion tip. For example, the toolcan include a handle, such as those handles described herein, and aninsertion tip having a blade, such as the insertion tip shown in FIGS.18A-18C. In some instances, when pressure is applied to the end of thetip, the blade can be released to form the one or more openings.

The SMART surgery method can include positioning the openings tofacilitate triangulation, which, as described above, can help decreasecomplications, simplify the surgical procedure, and improve surgeoncomfort. For example, the openings can include a central opening and oneor more lateral openings on either side of the central opening. Thecentral opening can have a diameter of less than or equal to about 4 cm,less than or equal to about 3 cm, less than or equal to about 1.5 cm,less than or equal to about 1 cm, or less than or equal to about 0.5 cm.The central opening can be formed through the umbilicus or at otherlocations, for example, at a location near the target anatomy, or in asite of low cosmetic and physiologic impact such as a Pfannenstielincision, a suprapubic incision, in a skin fold or crease, or on theflank, or any other location the surgeon deems favorable. In someinstances, the lateral openings can be substantially equidistant fromthe central opening and/or target anatomy, however in other instancesthe ports would be placed at different distances from the centralopening to facilitate the particular task to be performed by the tool.As shown in FIGS. 1E and 1F, incisions can be formed at differentlocations depending on the target anatomy.

After the formation of the one or more openings, as shown in FIG. 16A, aport can be optionally introduced through one or more of the openings.The port can include a tubular structure configured to traverse athickness of the abdominal wall, which can have a thickness of a fewmillimeters in very small neonatal applications and could be as thick as20 cm or more in morbidly obese patients depending on the thickness ofthe muscle, fascia, and fat of the abdominal wall.

The tubular structures can include an internal diameter sized to receivea surgical tool having a shaft diameter ranging from 0.05 mm up to 3.0mm. For example, the tubular structure can include an inner diameter ofat least about 0.5 mm and/or less than or equal to about 3.0 mm. In someembodiments, the tubular structure can include an inner diameter betweenabout 0.05 mm and about 0.5 mm, between about 0.51 mm and about 1.0 mm,between about 1.1 mm and about 1.5 mm, between about 1.51 mm and about2.0 mm, between about 2.01 mm and about 2.5 mm, or between about 2.51 mmand about 3.0 mm. In some embodiments, the tubular structure can includean outer diameter of at least about 0.1 mm and less than or equal toabout 3.5 mm. For instance, the tubular structure can include an outerdiameter between 0.1 mm and 0.7 mm, between about 0.71 mm and about 1.2mm, between about 1.21 mm and about 1.7 mm, between about 1.71 mm andabout 2.2 mm, between about 2.21 mm and about 2.5 mm, between about 2.51mm and about 2.7 mm, or between about 3.0 mm and about 3.5 mm

In some instances, as shown in FIG. 16B, the tool can be introducedthrough the opening without the use of the port. This can be useful formaximizing the shaft diameter of the surgical tool and minimizing theskin opening size.

To achieve triangulation, the camera can be introduced through thecentral opening and a tool can be introduced through each one of thelateral openings. With the SMART surgery method, the surgeon can moreeasily perform the procedure using traditional laparoscopic techniqueswithout leaving behind any scars.

During SMART surgery, it may be desirable to exchange the working end ofthe tool rather than use a completely separate tool. The ability toexchange the working end without removing the entire surgical tool canreduce complications associated with re-inserting tools into thepatient. It can also save time and lower costs by allowing the surgeonto use one handle with multiple tips. In addition, the ability toexchange the working end can decrease the amount of inventory shelfspace necessary to store the tools.

In some instances, the one or more openings can be sized to facilitatethe exchange of working ends on a surgical tool. For example, the methodcan include forming a first opening sized to receive the shaft portionof the surgical tool, but not the working end of a surgical tool. Themethod can include forming a second opening larger than the firstopening and sized to receive the working end of the surgical tool. Insome instances, the second opening can be formed in the umbilicus.

In some instances, the one or more openings can be positioned tofacilitate the exchange of the working ends. For example, the method caninclude forming the first opening and the second opening. The first andthe second openings can be positioned such that the distal end of theshaft portion can be introduced into the abdomen through the firstopening and back out to the external environment through the secondopening. Once the distal end of the shaft portion exits the abdomen, theworking end can be connected to the distal end of the shaft portion.Thereafter, the working end can be introduced into the abdomen throughthe second opening. To exchange working ends, the working end can beintroduced back out to the external environment allowing the physicianto change the working end.

Due to the low cosmetic impact of the scarless ports, in some instances,the efficiency and safety of the procedure is enhanced by introducingmultiple instruments through multiple scarless ports, including, but notlimited to, any of the instruments discussed herein. For instance, thesurgeon could introduce a Debakey-type grasper, a scissor, a clipapplier, a clip cartridge, a right angle dissector, and/or a hookelectrode all at the start of the procedure. All instruments that werenot currently in use could be safely suspended on a rack external to thepatient out of the way, but available inside the patient at a moment'snotice should the surgeon require that instrument. Alternatively, thetools could be laid on the patient and affixed to the drape in a mannerthat ensured that the internal portions of the tool would not conflictwith movements of the operating instruments in current use by thesurgeon.

Multiple scarless ports allow the surgeon to dissect a vessel with aright angle dissector, apply clips, cut the vessel, and/or cauterizeseamlessly without having to remove or change instruments. This methodincreases safety by ensuring that all tools required to control bleedingare immediately available to the surgeon. For example, if the surgeon,while dissecting a vessel, cuts a hole in a vessel and encountersbleeding, the surgeon would already have a grasper available inside thepatient to hold the area of bleeding to control the bleeding, a rightangle dissector immediately available inside the patient to dissect aplane around the vessel to clear it for clip application, a clip applierand clip immediately available to apply proximal and distal to thedamaged area of the vessel, and/or scissors or cautery to sever thevessel between the clips without having to disassemble and change thetools.

The minimally invasive surgical procedures described above and/or use ofany of the surgical tools described herein can be directly performed bya surgeon or robotically assisted. With robotic surgery, the surgeon cancontrol the robotic arms by using computer controls or atelemanipulator. Robotic surgery can give the surgeon better controlover the surgical tools and make access to certain anatomy easier. Anyof the working ends described below (e.g., graspers, scissors,dissectors, needle drivers, insertion tips, suction ends, electrocauterytools, etc.) can be connected to the robotic arms using any of theconnection features described below.

Handle Portion

FIGS. 1A-1D illustrate an exemplary surgical tool 100 that can be usedwith the SMART surgery method described above. The surgical tool 100 caninclude a handle portion 102 removably secured to a working end 104(e.g., graspers, scissors, dissectors, needle driver, insertion tip,clip applier, suction tool, cautery tool, or otherwise) using any of theconnection features described herein.

Any unintentional loosening of the working end 104 components can affectthe functionality of the surgical tool 100. In addition, during thesurgical procedure, if any of the working end 104 components fall intothe patient, the surgeon will have to open, identify, localize, andremove the component, which may require complicated imaging and surgicalmethods. This may increase the invasiveness of the surgery up to andincluding traditional laparoscopic techniques and traditional opensurgery. Accordingly, the connection features described herein aredesigned for easy assembly and stability.

During use, the handle portion 102 and/or the working end 104 can bereusable. For example, after a surgical procedure, both the handleportion 102 and the working end 104 can be sterilized using anymedically acceptable method. Alternatively, both the handle portion 102and the working end 104 can be disposed after the surgical procedure. Insome instances, after the surgical procedure, the handle portion 102 canbe sterilized and the working end 104 can be disposed.

The handle portion 102 and/or working end 104 can include any medicalgrade metal, such as stainless steel, or any medical grade polymer solong as the material has sufficient properties to carry out thefunctions described herein. If the surgical tool 100 is reusable, thenthe tool should be constructed from a medical grade metal or polymerthat can be appropriately sterilized.

As shown in FIGS. 1A-1D, the handle portion 102 can include a firsthandle body 106 and a second handle body 108. The first and secondhandle bodies 106, 108 can include first and second finger openings 128,130 sized to receive the surgeon's fingers. The first finger opening 128can be elongated and sized to receive one or more of the surgeon'sfingers during the procedure, and the second handle body 108 can includethe thumb opening 130 sized to receive the surgeon's thumb.

The first handle body 106 can include a generally elongate portion 122and a grip portion 110. The elongate portion 122 can be substantiallycoaxial with the shaft portion 112, and the grip portion 110 can extenddownward from the generally elongate portion 122. The grip portion 110can be integrally or separately formed with the generally elongateportion 122.

The first handle body 106 can include an extension portion 148configured to receive an insert portion 150 of the second handle body108 (see FIG. 1D). For example, the extension portion 148 can includetwo arms that define an opening for receiving the insert portion 150.

The second handle body 108 can be movable relative to the first handleportion 106. For example, the handle portion 102 can include a pivot pin126 configured to permit pivotable movement between the first handlebody 106 and the second handle body 108. The first and second handlebodies 106, 108 can include openings 152, 154 configured to receive thepivot pin 126. In some instances, the position of the first and secondhandle bodies 106, 108 can be locked in place to secure theconfiguration of the working end 104.

In order to facilitate surgeon comfort, the total weight of the handleportion 102 can be reduced by decreasing the dimensions of the handleportion 102 and forming a number of cuts 124 a, 124 b in the first andsecond handle bodies 106, 108. The total weight of the handle portion102 can be less than or equal to about 300 g, and preferably less thanor equal to about 200 g. The cuts 124 a, 124 b can take on variousshapes and sizes and can be formed along any part of the handle portion102. For example, the first handle body 106 can include a number ofelongate cuts 124 a along the length of the elongate portion 122 and/ora number of circular cuts 124 b along the grip portion 110.

As shown in FIGS. 1C-1D, the elongate portion 122 can define a lumen140. The lumen 140 can be configured to receive at least a portion ofeach of a proximal handle portion 116, a push rod 120, a spring 118,and/or the shaft portion 112.

The proximal handle portion 116 can extend from the first handle body106 to the second handle body 108. For example, the lumen 140 canreceive a distal segment 156 of the proximal handle portion 116, whilethe second handle body 108 can include a receiving portion 134 (e.g.,indentation, groove, opening, or otherwise) for receiving a reducedthickness portion 136 of the proximal handle portion 116. A proximalsegment 146 of the proximal handle portion 116 can extend proximallyfrom the second handle body 108.

The proximal handle portion 116 can be integrally or separately formedfrom the push rod 120. As shown in FIG. 1C, the distal segment 156 ofthe proximal handle portion 116 can define a lumen 138 configured toreceive a proximal end 158 of the push rod 120. The proximal handleportion 116 can be configured to translate movement from the secondhandle body 108 to the push rod 120. Pivotable movement of the secondhandle body 108 can cause axial movement of the push rod 120. In someinstances, distal movement of the thumb opening 130 can cause proximalmovement of the push rod 120, while proximal movement of the thumbopening 130 can cause distal movement of the push rod 120.

The spring 118 can be disposed between the distal segment 156 of theproximal handle portion 116 and a proximal portion 132 of the shaft 120,and the spring 118 can surround a proximal portion of the push rod 120.In some instances, the spring 118 can be configured to bias the proximalhandle portion 116 to a proximal position and/or provide a desiredamount of resistance for controlling the working end 104.

Axial movement of the push rod 120 can be configured to control movementof the working end 104. A proximal portion of the push rod 120 canextend through a lumen 140 defined by the elongate body portion 122,while a remaining portion of the push rod 120 can extend through a lumendefined by the shaft portion 112. In some instances, distal movement ofthe push rod 120 can cause the working end 104 (e.g., graspers,dissectors, scissors, needle driver, clip applier, or otherwise) to anopened configuration, while proximal movement of the push rod 120 cancause the working end 104 to move to a closed configuration.

As shown in FIG. 1D, the elongate portion 122 can define one or morerecesses 142 a, 142 b configured to receive one or more securing pins144 a, 144 b. For example, the elongate portion 122 can include a recess142 a along a top surface of the elongate portion 122 and another recess142 b along a side surface of the elongate portion 122. When the pins144 a, 144 b are secured within the recesses 142 a, 142 b, the pins 144a, 144 b can secure the proximal portion 132 of the shaft portion 112 tothe elongate portion 122.

In some instances, the diameter D₄ of the proximal portion 132 of theshaft portion 112 can be greater than the diameter D₂ of the remainingportion of the shaft portion 112 (see FIG. 1C). For example, thediameter D₄ can be at least about two times greater than D₂ or at leastabout three times greater than D₂. The proximal portion 132 can beintegrally or separately formed with the remaining portion of the shaftportion 112. As shown in FIGS. 1C-1D, the proximal portion 132 caninclude at least one region of reduced thickness 160. The regions ofreduced thickness 160 can receive at least a portion of the pins 144 a,144 b when the pins 144 a, 144 b are secured within the recesses 142 a,142 b.

If the proximal portion 132 has a greater diameter than the remainingportion of the shaft portion 112, then the lumen 140 can have a diameterD₁ that is larger than the diameter D₂ of the remaining shaft portion112. In some instances, the diameter D₁ can be at least about 1.5 timeslarger than D₂ and/or less than or equal to about 3 times larger thanD₂. A larger lumen 140 can reduce the weight of the first handle body106 and increase surgeon comfort.

The outer diameter D₂ of the shaft portion 112 can be less than or equalto about 3.0 mm, less than or equal to about 2.5 mm, less than or equalto about 2.0 mm, or less than or equal to about 1.5 mm. In someinstances, the outer diameter D₂ of the shaft portion 112 can be about2.5 mm, about 2.3 mm, or about 2.0 mm. The surgical tool 100 can beintroduced into the patient alone or introduced through a port having aninner diameter of less than or equal to about 3.0 mm. An incision sizedto receive the tool 100 and/or port can have a length of less than orequal to about 3.0 mm. A small incision having a length of less than orequal to about 3.0 mm can decrease healing time and leave no permanentscar.

Depending on the tool, the shaft portion 112 can have an internaldiameter sized to receive the push rod 120, facilitate suction withoutclogs, or otherwise. For example, if the push rod includes a diameter D₃of less than or equal to about 1.0 mm, then the shaft portion 112 canhave an internal diameter of less than or equal to about 1.0 mm. In someinstances, the internal diameter of the shaft portion 112 can be about1.0 mm.

The shaft portion 112 can include a working length L₂ configured toprovide sufficient length to adequately manipulate the tools, whilemaintaining a minimum amount of stiffness (see FIG. 1A). The shorter theworking length, the more rigid and more effective the surgical tool canbe, but shorter working lengths limit port placement options.Accordingly, as shown in FIGS. 1E-1F, it can be desirable for thesurgical tool to include a working length L₂ sufficiently long to extendfrom a desirable port location (e.g., a port location desirable fortriangulation) and reach the target anatomy, while still leaving enoughworking length to adequately manipulate the tool. For example, theworking length L₂ can be at least about 20 cm and/or less than or equalto about 30 cm, preferably, for most procedures, between about 24 cm andabout 26 cm. For bariatric procedures, the standard tool length ispreferably about 29 cm. Advantageously, if the tool is put in the wrongplace, it may be placed in a new position with very little cosmeticimpact.

The working length L₂ can be at least about 50% of the entire length L₁of the surgical tool 100, at least about 60% of the entire length L₁ ofthe surgical tool 100, or at least about 70% of the entire length L₁ ofthe surgical tool 100. In some instances, the working length L₂ can beabout 70% of the entire length L₁ of the surgical tool. The workinglength L₂ can be at least about three times the length L₃ of a proximalportion of the handle portion 102, including the first and second handlebodies 106, 108, or at least about four times the length L₄ of theproximal portion of the handle portion 102. The working length L₂ can beat least about five times the length L₄ of the working end 104, or atleast about six times the length L₄ of the working end 104. In someinstances, the working length L₂ can be about seven times the length L₄of the working end 104.

In some scenarios, it may be desirable for the surgical tool 100 toinclude a stop member 114 configured to maintain the position of thesurgical tool 100. The stop member 114 can be disposed coaxially along aportion of the shaft portion 112 and can be movable along the length L₂of the shaft portion 112. During the surgical procedure, after the tool100 is introduced into the patient, the stop member 114 can be moved toa position external from the patient and adjacent the abdominal wall.The stop member 114 can be sized to support the position of the surgicaltool 100 even if the surgeon is not holding on to the surgical tool 100,and the stop member 114 can include a rubber material or any othermedical grade metal or polymer capable of supporting the surgical tool100.

FIG. 19 illustrates an alternate handle portion 1900 having an ergonomicdesign. The handle portion can include a first body portion 1902pivotably connected to a second body portion 1904 via a pivot pin 1906.The handle body portions 1902, 1904 can be connected by a hinge 1908pivotable about a central point 1910. In some instances, the hinge 1908can include a spring mechanism 1908. The spring mechanism 1908 can biasthe handle portion to an opened configuration and/or provide a desiredamount of resistance for controlling the working end of the surgicaltool. In some instances, the handle can include a fluid port 1912 forinputting fluids.

In some configurations, the handle portion (e.g., handle portions 102,1900, or otherwise) can include one or more shaft portions, each havinga shaft diameter of less than or equal to about 1 mm, thus minimizingthe likelihood of permanent scars.

FIGS. 20A-20G illustrate a surgical tool 2000 having a handle portion2002 similar to the handle portion 102. The handle portion 2002 caninclude a central shaft portion 2008 having a diameter of less than orequal to about 2.5 mm, and preferably less than or equal to about 1 mm,for example, between about 0.8 mm and about 1.0 mm. The central shaftportion 2008 can control movement of a working end 2004, including, butnot limited to, any of the working ends described herein. In someembodiments, the central shaft 2008 can provide the working end with oneor more degrees of freedom, including, but not limited to, rotation,translation along the tool axis, and/or operation of the working end.The central shaft portion 2008 can connect to the handle portion 2002 asdescribed in connection with the shaft portion 112 and the handleportion 102.

One or more additional shaft portions 2006 surrounding the central shaftportion 2008 can stabilize the surgical tool. For example, the surgicaltool 2000 can include a central shaft portion 2008 surrounded by threeevenly spaced additional shaft portions 2006. Each shaft portion 2006,2008 can be introduced into the abdomen through a separate opening. Insome examples, as shown in FIG. 20E, each of the shaft portions can haveblunt (e.g., rounded, spherical, etc.) ends for safety. In otherexamples, each of the shaft portions 2006, 2008 can include a sharpenedtip capable of forming the one or more openings through which the shaftportions 2006, 2008 extend. In certain aspects, the shaft portions 2006can be solid. In certain variants, the shaft portions 2006 can behollow, for example, to carry cables that can increase functionality ofthe working end 2004 (e.g., increase degrees of freedom). Additionaldetails regarding methods of achieving multiple degrees of freedom canbe found in U.S. Provisional Application No. 61/936,548, filed Feb. 6,2014, entitled “METHODS AND DEVICES FOR PERFORMING SCARLESS, ROBOTICABDOMINAL SURGERY,” which is hereby incorporated by reference in itsentirety.

During a minimally invasive surgery procedure, all of the shaft portions2006, 2008 can be simultaneously introduced into the abdomen.Thereafter, a working end can be secured to the central shaft portions2008. For example, the distal ends of the shaft portions 2006, 2008 canextend through another opening, such as the umbilicus opening, and backout of the abdomen, so the surgeon can secure the working end 2004 tothe central shaft portion 2008. Any of the connection features discussedherein can be used to connect the working end to the central shaftportion.

The working end 2004 can include a securing member 2010 for securing thedistal ends of each of the additional shaft portions 2006 surroundingthe central shaft portion 2008. In some instances, the securing member2010 can be configured to connect to the central shaft portion 2008. Incertain aspects, the securing member 2010 can be configured to fix theposition of each of the shaft portions 2006, 2008 to the working end2004 and relative to each other with a single connection to facilitateease of use.

As shown in FIG. 20F, the securing member 2010 can be ring-shaped andinclude a number of openings 2018, 2020 configured to receive the distalends of each of the additional shaft portions 2006 and the central shaftportion 2008. Each of the openings 2018 can include a chamfered edge toease the insertion of the shaft portions 2006. A distal face of thesecuring member 2010 can include a generally circular recess 2024 havinggrooves 2026 shaped to receive the distal ends of the additional shaftportions 2006 (see FIG. 20C).

In some instances, the securing member can include a locking mechanismto fix the positions of the additional shaft portions 2006 in placerelative to each other and to the securing member 2010. As shown in FIG.20G, the surgical tool can include a retaining ring 2012. The retainingring 2012 can include a generally annular shape and can be shaped to fitwithin the recess 2024. The retaining ring 2012 can be biased to form afriction fit with the securing member 2010 to secure the addition shaftportions 2006 to the securing member 2010 (see FIG. 20B). The retainingring 2012 can be removably secured to the securing member 2010 or atleast partially fixed to the securing member 2010.

As shown in FIG. 20E, each of the additional shaft portions can includea notch 2022 (e.g., groove, indentation, opening, or likewise) forreceiving a portion of the retaining ring 2012. After the securingmember 2010 has been connected to each of the additional shaft portions2006, the retaining ring 2012 can be positioned to secure the distalends of the shaft portions 2006 to the securing member 2010, as shown inFIG. 20B. To release the retaining ring 2012, the user can push the nubs2014 toward each other and remove the ring 2012. In certain variants,the retaining ring 2012 can be rotated or otherwise adjusted to releasethe shaft portions 2006.

As shown in FIG. 20D, the working end 2004 can be a pair of scissors.The working end 2004 can include a housing 2034 configured to receive aslide member 2030. The slide member 2030 can define a receiving portion2032 shaped to receive a distal portion 2028 of the central shaftportion 2008, which, as shown in the figures, can include a generallyspherical shape to assist with controlling the working end 2004. Thedistal portion 2028 can be introduced into the slide member 2013 from aproximal end of the slide member 2030. Movement of the central shaftportion 2008 can cause corresponding movement of the slide member 2030to operate the working end 2004.

In some instances, the working end 2004 can include an actuator 2016 tosecure or release the distal portion 2028 of the central shaft portion2008 to the slide member 2030. Pressing the actuator 2016 downward canlock the distal portion 2028 in place.

The receiving portion 2032 and the distal portion 2028 can be shapedsuch that proximal and distal movement of the distal portion 2028translates to proximal and distal movement of the slide member 2030.Axial movement of the slide member 2030 can move the jaw members 2036,2038 between opened and closed configurations. Different types of jawmembers are described in further detail below.

Graspers and Related Tools

FIGS. 2A-2E illustrate a grasper tool 200 configured to move between aclosed configuration (FIGS. 2A-2B) and an opened configuration (FIGS.2C-2D). The grasper tool 200 can have a generally cylindrical shape inits closed configuration. The grasper tool 200 can have a diameterD_(200,1) of at least about 3 mm and/or less than or equal to about 10mm, and a length L_(200,1) of at least about 1 cm and less than or equalto about 4 cm.

The grasper tool 200 can be secured to a handle, for example, the handleportion 102, such that the handle can control movement of a push rod204. Axial movement of the push rod 204 can move the grasper tool 200between the closed configuration (FIGS. 2A-2B) and the openedconfiguration (FIGS. 2C-2D).

To assemble the surgical tool, a nut 206 and a ferrule 212 can bepositioned coaxially along a portion of the shaft portion 202. In someinstances, the ferrule 212 can be secured to the nut 206 (e.g., welded)prior to positioning the nut along the portion of the shaft portion 202.Thereafter, a distal portion 262 of the push rod 204 can be insertedinto the receiving portion 218 of the housing 214 from a lateraldirection to mate with a receiving portion 256 of the slide member 230(see FIG. 2E). In this configuration, the housing 214 can be positionedsuch that a proximal end 216 of the housing 214 abuts a distal end ofthe ferrule 212. Once the push rod 204 mates with the slide member 230,the nut 206 can be moved distally until a distal portion 208 of the nut206 threadably engages the housing 214, and a proximal portion 210 ofthe nut 210 can form a friction fit with the shaft portion 202 via theferrule 212. Each of these components will be described in furtherdetail below.

In general, the nut 206 can be generally elongated and can include adistal portion 208 and a proximal portion 210. The nut 206 can define alumen through which the shaft portion 202 extends. In some instances, aninner and/or outer diameter of the proximal portion 210 can be taperedsuch that the inner and/or outer diameter of the proximal portion 210 issmaller than the inner and/or outer diameter of the distal portion 208of the nut 206. The distal portion 208 of the nut 206 can include athreaded portion 207 configured to engage a threaded region 220 of thehousing 214. The most distal threads 207 can form a friction fit withthe threaded portion 220 to prevent the grasper tool 200 fromdisassembling within the patient. In some instances, at least an outersurface of 206 can include a textured portion 209 (e.g., ribbed). Thetextured portion 209 can make it easier to grasp the nut 206.

The ferrule 212 can be disposed proximal to the housing 214 and caninclude a shape generally contoured to the internal surface of theproximal end 210 of the nut 206. For example, the ferrule 212 can begenerally tapered with a proximal end having a diameter smaller than adistal end of the ferrule 212. In some configurations, the angle of theferrule can be at least about 5 degrees and less than about 90 degreesdownward relative to a distal face of the ferrule 212. In someconfigurations, the angle can be between about 5 degrees and about 45degrees, or between about 45 degrees and 90 degrees. In some instances,the angle can be about 45 degrees. In some instances, this ferrule 212can be secured to the nut 206 (e.g., welded, glued, or otherwise) orintegrally formed with the nut 206 to prevent inadvertent dislodgment ofthe ferrule 212 inside the patient.

In some instances, the ferrule 212 can include an adjustable diameterand/or be configured to be tightly secured to the shaft. For example,the ferrule 212 can include an elongate slit 268 positioned such thatthe proximal end 210 of nut 206 can reduce a diameter of the ferrule 212when the nut 206 engages the housing 214. In some configurations, theferrule can include multiple slits, including, 2, 3, 4, 5, 6, 7, 8, ormore slits. For example, the ferrule 212 can include four differentslits positioned at 90 degree increments to allow easier coaptation. Insome configurations, the ferrule 212 can include regions of moreflexible material rather than slits 268.

FIG. 2F illustrates an alternate ferrule 212 a to the ferrule 212 shownin FIG. 2E. The ferrule 212 a can include a similar conical shape asferrule 212 and can include a number of elongated slots extending alonga partial length of the ferrule. The slots can be sized and positionedto optimize the friction fit between the nut 206 and the shaft portion202. For example, as shown in FIG. 2F, the ferrule 212 a can include oneor more elongate slots 268 a along a distal portion of the ferrule 212 aand/or one or more elongate slots 268 b along a proximal portion of theferrule 268 b. In certain aspects, the ferrule 212 a can include twoelongate slots 268 a and two elongate slots 268 b.

The combination of the ferrule 210 and the threaded engagement betweenthe nut 206 and the housing 214 can help ensure that the grasper tool200 does not disengage from the handle. In addition, the coaxialplacement of the nut 206, the ferrule 212, and the housing 214 along theshaft portion 202 makes it more difficult for those components to falloff during the procedure.

The housing 214 can define a lumen configured to receive a distalportion 262 of the push rod 204 and a proximal section 230 of the slidemember 230. For example, the push rod 204 can enter the lumen from areceiving portion 218. The receiving portions 218, 256 can be configuredsuch that the distal portion 262 of the push rod 204 can enter both thehousing 214 and the slide member 230 from a lateral direction.

In some configurations, the shaft portion 202 can include a diameter ofabout 2.5 mm and can be configured for insertion into the abdomenwithout a port. In these configurations, the distal portion 262 caninclude a diameter of less than or equal to about 2.25 mm.

Although not shown in the drawings, in some configurations, the graspertool 200 can include a rotatable component surrounding the receivingportion 256 and/or receiving portion 218. After the push rod 204 isintroduced one or both of the receiving portions 218, 256, the rotatablecomponent can be rotated, for example, 90 degrees, to close one or bothreceiving portions 218, 256 to prevent the tool 200 from disassemblingfrom the shaft portion 202. To remove the grasper tool 200, therotatable portion can be rotated back to permit the push rod 204 to beremoved.

The slide member 230 can have a generally cylindrical proximal portion264 defining the receiving portion 256 for receiving the distal portion262 of the push rod 204. The distal portion 266 of the slide member 230can be generally planar and define the opening 232 for receiving the pin234, which slidably connects with the slide member 230 and the jawmembers 236, 248.

The distal portion 262 of the push rod 204 can be configured to matewith the receiving portion 256 of the slide member 230 at a positionwithin the housing 214. For example, the distal portion 262 of the pushrod 204 can be shaped such that proximal and distal movement of the pushrod 204 causes proximal and distal movement of the side member 230. Insome instances, as shown in FIG. 2E, the distal portion 262 of the pushrod 204 can have one or more regions of reduced thickness. For example,the junction between the distal portion 262 and the remaining portion ofthe push rod 204 can include a 90 degree step to prevent slippagebetween the receiving portion 256 and the distal portion 262 of the pushrod 204. In some instances, the distal tip of the distal portion 262 canbe tapered to facilitate insertion of the push rod 204 directly throughthe tissue without any other tools.

The housing 214 can include a distal portion 222 having two arms 224that define a receiving portion configured to receive the proximalportion 264 of the slide member 230. Each arm 224 can include an opening226 configured to receive a pin 228, and each jaw member 236, 248 candefine an opening 242, 252 configured to receive the pin 228. The pin228 can secure the housing 214 to the jaw members 236, 248. At least aportion of an outer surface of the distal portion 222 can include atextured surface 215 (e.g., ribbed). The textured surface 215 can bepositioned between the threaded region 220 and the arms 224.

Each jaw member 236, 248 can include a proximal portion 238, 258 and adistal portion 244, 254. In some instances, the distal portions 244, 254can be at least partially rounded and/or the proximal portions 238, 258can be generally planar. The jaw members 236, 248 can be positioned suchthat the proximal portions 238, 258 overlap each other along an x-yplane, while the distal portions 244, 254 overlap each other along anx-z plane. To facilitate this configuration, the proximal portions 238,258 can include a width that is less than a width of the distal portions244, 254.

The distal portion 244, 254 of each jaw member 236, 248 can include oneor more teeth 246, 260. The teeth 246, 260 can be disposed alongsurfaces of the distal portions 244, 254 that are generally orthogonalto side walls of the proximal portions 238, 258. In some instances, theteeth 246, 260 can be shaped to grasp tissue without puncturing thetissue.

Each proximal portion 238, 258 can include an elongate slot 240, 250. Incertain aspects, the elongate slots 240, 250 can each include a camsurface configured such that movement of a pin 234 along the elongateslots 240, 250 causes rotation of the jaw members 236, 248 to open andclose the jaws of the instrument. The pin 234 can extend through anopening 232 of the slide member 230 and through each elongate slot 240,250 such that the distal portion 266 of the slide member 230 is disposedbetween the proximal portions 238, 258 of the jaw members 236, 248. Incertain aspects, the first jaw member 236 can include an elongate slot240 having a distal end that is closer to a bottom surface of the firstjaw member 236 than a proximal end of the jaw member 240. Conversely,the second jaw member 248 can include an elongate slot 250 having aproximal end closer to a bottom surface of the second jaw member 248than a distal end of the elongate slot 250.

In some procedures, the grasper tool 200 can be secured to a shaftportion 202 prior to introducing the surgical tool into the patient. Inother procedures, the shaft portion 202 can be first introduced througha first opening in the abdominal wall without the grasper tool 200. Thedistal end of the shaft portion 202 can then be introduced through asecond opening and back out of the patient. Thereafter, the grasper tool200 can be secured to the shaft portion 202, and the grasper tool 200can be pulled back through the second opening and into the patient.

After the grasper tool 200 has been introduced into the surgicalenvironment, the grasper tool 200 can be used to grab the targetanatomy. Axial movement of the push rod 202 can move the slide member230 in an axial direction. Depending on the configuration of theelongate slots 240, 250, distal movement of the push rod 204 can movethe pin 234 distally along the elongate slots 240, 250 and cause the jawmembers 236, 248 to move to an opened configuration, while proximalmovement of the push rod 204 can move the pin 234 proximally along theelongate slots 240, 250 to close the jaw members 236, 248. Otherconfigurations can be designed such that proximal movement of the pushrod 204 can open the jaw members 236, 248 and distal movement of thepush rod 204 can close the jaw members 236, 248.

The present disclosure should not be construed to be limited to thetypes of graspers illustrated in FIGS. 2A-2E. The jaw members 236, 248and teeth 246, 260 can take on various configurations. As shown in FIG.2G, the jaw members 236, 248 can take the form of a clip applier, forexample, for use with Hem-o-lok®, LIGACLIP®, Hemoclip,® or other clips.The clip applier can include jaw members having proximal portions 244 a,254 a, each having teeth 246 a, 260 a for grasping the clip. Other teethshapes 246 a, 260 a are also possible depending on the shape of theclip.

In other configurations, the graspers can include one or more recessesalong an inner surface of the jaw members and/or be shaped such thatthere is a space between the jaw members when the graspers are in aclosed configuration. These graspers can be useful for grasping, forexample, a portion of the bowel within the space without traumaticallyinjuring the bowel. As another example, the teeth 246, 260 can varyalong a length of the jaw members 236, 248. For instance, the teeth 246,260 can be serrated to securely hold the target anatomy. In someinstances, the grasper tool can include sharper teeth at a distal end ofthe grasper tool to permit a firm grasp when removing the target anatomy(e.g., uterus, gallbladder, or otherwise). In some instances, thegraspers can include Debakey type teeth (e.g., teeth shown in FIGS.3A-3E) to provide a secure and atraumatic grasping. In some instances,the teeth 246, 260 can be rounded for grasping blood vessels. In someinstances, the grasper tool can be fenestrated along a length of the jawmembers and/or include a fenestrated tip.

In some instances, the grasper tool 200 can be a needle driverconfigured to hold a needle. For example, as shown in FIGS. 2H-2J, theproximal portions of the jaw members 244 b, 254 b can include agenerally curved shape and a blunt distal end. The jaw members caninclude a number of teeth 260 separated by grooves extending along oneor more directions. These grooves can make it easier to grab the needleduring suturing.

In some instances, the handle portion 102 can include a lockingmechanism, for example, a ratcheting mechanism, lever, detent, orotherwise, to lock the position of the jaw members 236, 248 untilmanually released.

FIGS. 3A-3E illustrate a dissector tool 300 configured to removablyengage with a handle, such as the handle portion 102. The dissector tool300 can engage the handle similarly to the method described inconnection with FIGS. 2A-2E. In addition, the dissector tool 300 can beconfigured to open (FIGS. 3C-3D) and close (FIGS. 3A-3B) in a mannersimilar to FIGS. 2A-2E. Numerical references to the components are thesame as previously described, except that the references are in the 300sinstead of the 200s.

Unlike the grasper tool 200, the dissector tool 300 can include curvedjaw members 336, 348 to facilitate, for example, dissection of vesselsfrom other structures, separation of tissue planes, stabilization oftissues, and in some instances, suture grasping and knot tying. As shownin FIGS. 3A-3E, the curved jaw members 336, 348 can be tapered in adistal direction. Each jaw member can include one or more teeth 346, 360for grasping. These teeth 346, 360 can be thinner than the teeth 246,260 of the grasper tool 200. Alternatively, the teeth 346, 360 can takeon any configuration described above in connection with grasper tool200.

Although FIGS. 3C and 3D show both jaw members 336, 348 moving relativeto each other, in some configurations, only one of the jaw members 336,348 moves, while the other jaw member remains stationary.

The present disclosure should not be construed to be limited to thetypes of dissectors illustrated in FIGS. 3A-3E. In some instances, thejaw members 336, 348 can include a right angle to dissect around bloodvessels.

FIGS. 4A-4E illustrate a scissor tool 400 configured to removably engagewith a handle, such as the handle portion 102. The scissor tool 400 canengage the handle similarly to the method described in connection withFIGS. 2A-2E. In addition, the scissor tool 400 can be configured to open(FIGS. 4C-4D) and close (FIGS. 4A-4B) in a manner similar to FIGS.2A-2E. Numerical references to the components are the same as previouslydescribed, except that the references are in the 400s instead of the200s.

In some instances, the scissor tool 400 can include a slide member 430as shown in FIG. 4E. The slide member 430 can include a proximal portion464 having a receiving portion 456 configured to receive a distalportion 464 of a push rod 404. A distal portion 466 of the slide member430 can include two arms 470 that define an opening configured toreceive proximal portions 438, 458 of the jaw members 436, 448. Each arm470 can define an opening 434 configured to receive a pin 434. The pin434 can extend through each of the openings 434 and through the elongateslots 440, 450 of the jaw members 436, 448.

In some instances, the scissor tool 400 can include one or more gaskets429 (e.g., o-rings). The gaskets 429 can be used to maintain theconnection between the pin 428 and the housing 414.

Unlike the grasper tool 200, the scissor tool 400 can include jawmembers 436, 448 without any teeth. Instead, the jaw members 436, 448include a sharpened blade configured to cut tissue or sutures. Inaddition, the jaw members 436, 448 can have rounded ends to protect thetissue when the scissor tool 400 is introduced into the patient, andduring use of the scissors inside the patient.

The present disclosure should not be construed to be limited to thetypes of scissors illustrated in FIGS. 4A-4E. Various other scissorshapes can be imagined. For example, the distal portions 444, 454 can betapered and/or include a sharp distal tip that can be used to cut veryfine surfaces, such as, for tapering small blood vessels, or taperingthe ureter or appendix for later anastomosis. In some configurations,the distal tip portions of the jaw members 436, 448 can be slightly bentinward toward each other to create the friction required for cuttingstructures internally without the surgeon applying this force from thehandle. In some configurations, the jaw members 436, 448 can include acombination of a scissor tool and a grasper tool.

FIGS. 5A-5C illustrate a grasper tool 500 configured to removably engagewith a handle, such as the handle portion 102. The grasper tool 500 caninclude a number of components similar to the grasper tool 200components, and the grasper tool 500 can be introduced into the patientusing the methods described in connection with the grasper tool 200. Inaddition, the grasper tool 500 can be configured to open and close in amanner similar to grasper tool 200. Numerical references to similarcomponents are the same as previously described, except that thereferences are in the 500s instead of the 200s.

The proximal portion 516 of the housing 514 can be removably coupled tothe shaft portion 502. In some configurations, the shaft portion 502 canhave a diameter of less than or equal to about 3.0 mm, preferably lessthan or equal to about 2.5 mm.

The grasper tool 500 can include a slide member 530 removably coupled toa push rod 504 and slidably disposed within a housing 514. A proximalportion 564 of the slide member 530 can define a lumen for receiving adistal portion of the push rod 504. Axial movement of the slide member530 can cause a pin 534 to move along elongate slots 540, 550 to causethe jaw members 536, 548 to move between a closed configuration and anopened configuration.

Unlike the grasper tool 200, the grasper tool 500 can removably connectto the shaft portion 502 and the push rod 504 using one or more threadedregions. For example, as shown in FIGS. 5B and 5C, the shaft portion 502can include a threaded region 570 along an outer surface of the distalportion of the shaft portion 502. The threaded region 570 can threadablyengage an inner surface of a proximal portion 516 of the housing 514. Insome instances, the push rod 504 can include a threaded region 572. Thethreaded region 572 can threadably engage an inner surface of a distalportion 564 of the slide member 530.

To assemble the grasper tool 500, the threaded portion 572 of the pushrod 504 can be introduced into the lumen defined by the proximal portion564 of the slide member 530, and the threaded region 570 of the shaftportion 502 can be introduced into the proximal portion 516 of thehousing 514. Thereafter, the shaft portion 502 can be rotated tothreadably engage the shaft portion 502 and the housing 514, and thepush rod 504 can be rotated to threadably engage the push rod 504 andthe slide member 564. In some instances, if the grasper tool 500 issecured to handle portion 102, the user can rotate the push rod 504 byrotating the proximal end 146 of the proximal handle portion 116. Insome instances, the user can rotate the push rod 504 after threadablyengaging the shaft portion 502 and the housing 514.

FIGS. 6A-6C illustrate a grasper tool 600 configured to removably engagewith a handle, such as the handle portion 102. The grasper tool 600 caninclude a number of components similar to the grasper tool 200components, and the grasper tool 600 can be introduced into the patientusing the methods described in connection with the grasper tool 200. Inaddition, the grasper tool 600 can be configured to open and close in amanner similar to grasper tool 200. Numerical references to similarcomponents are the same as previously described, except that thereferences are in the 600s instead of the 200s.

The grasper tool 600 can include a slide member 630 removably coupled toa push rod 604 and slidably disposed within a housing 614. A proximalportion 664 of the slide member 630 can define a receiving portion 656for receiving a distal portion 662 of the push rod 604. The receivingportion 656 can be configured to receive the distal portion 662 of thepush rod 604 from a lateral direction.

The distal portion 662 of the push rod and the receiving portion 656 ofthe slide member 630 can be configured such that axial movement of thepush rod 604 can move the slide member 630 in an axial direction. Axialmovement of the slide member 630 can cause a pin 634 to move alongelongate slots 640, 650 to cause the jaw members 636, 648 to movebetween a closed configuration and an opened configuration.

The grasper tool 600 can include a nut 670 having a proximal end 678 anda distal end 680. The proximal end 678 of the nut 676 can define a lumenfor receiving the shaft portion 602. For example, an outer surface ofthe distal end of the shaft portion 602 can include a threaded region674 configured to threadably engage an inner surface of the proximal end678 of the nut 676. In some instances, an outer surface of the proximalend 678 of the nut 676 can be tapered.

The distal end 680 of the nut 676 can be configured to engage a proximalportion 616 of the housing 614. For example, the distal end 680 of thenut 676 can include a recessed portion 684 configured to receive anoutwardly projecting portion 686 of the housing 614. The nut 676 caninclude a lengthwise slit 682 configured to permit the nut to be clippedover the outwardly projecting portion 686 of the housing.

To assemble the grasper tool 600, the distal end 662 of the push rod 604can be introduced into the receiving portions 618, 656 from a lateraldirection. Thereafter, the nut 676 can be clipped over the projectionportion 686 and the shaft portion 602 can be rotated to threadablyengage the proximal end 678 of the nut 676.

FIGS. 7A-7C illustrate a grasper tool 700 configured to removably engagewith a handle, such as the handle portion 102. The grasper tool 700 caninclude a number of components similar to the grasper tool 200components, and the grasper tool 700 can be configured to open and closein a manner similar to grasper tool 200. Numerical references to similarcomponents are the same as previously described, except that thereferences are in the 700s instead of the 200s.

The grasper tool 700 can include a slide member 730 removably coupled toa push rod 704 and slidably disposed within a housing 714. A proximalportion 764 of the slide member 730 can define a receiving portion 756for receiving a distal portion 762 of the push rod 704. The receivingportion 756 can be configured to receive the distal end 762 of the pushrod 704 from a lateral direction.

The distal portion 762 of the push rod and the receiving portion 756 ofthe slide member 730 can be configured such that axial movement of thepush rod 704 can move the slide member 730 in an axial direction. Axialmovement of the slide member 730 can cause a pin 734 to move alongelongate slots 740, 750 to cause the jaw members 736, 748 to movebetween a closed configuration and an opened configuration.

The proximal portion 716 of the housing 714 can define a lumenconfigured to engage a distal end of the shaft portion 702. For example,an outer surface of the distal end of the shaft portion 702 can includea threaded region 774 configured to threadably engage an inner surfaceof the proximal portion 716 of the housing 714.

To assemble the grasper tool 700, the distal end 762 of the push rod 704can be introduced into the receiving portions 718, 756 from a lateraldirection. Thereafter, the shaft portion 702 can be rotated tothreadably engage the proximal portion 716 of the housing 714.

FIGS. 8A-8C illustrate a grasper tool 800 configured to removably engagewith a handle, such as the handle portion 102. The grasper tool 800 caninclude a number of components similar to the grasper tool 200, 500, 600components, and the grasper tool 800 can be introduced into the patientusing the methods described in connection with the grasper tool 200. Inaddition, the grasper tool 800 can be configured to open and close in amanner similar to grasper tool 200. Numerical references to similarcomponents are the same as previously described, except that thereferences are in the 800s instead of the 200s, 500s, and/or 600s.

The grasper tool 800 can removably connect to the shaft portion 802 andpush rod 804 using one or more threaded regions. Similar to grasper tool500, the push rod 804 can include a threaded region 872 configured tothreadably engage an inner surface of a distal portion 864 of the slidemember 830.

The grasper tool 800 can include a nut 870 having a proximal end 878 anda distal end 880. The proximal end 878 of the nut 876 can define a lumenfor receiving the shaft portion 802. For example, an outer surface ofthe distal end of the shaft portion 802 can include a threaded region874 configured to threadably engage an inner surface of the proximal end878 of the nut 876. In some instances, an outer surface of the proximalend 878 of the nut 876 can be tapered.

The distal end 880 of the nut 876 can be configured to engage a proximalportion 816 of the housing 814. For example, the distal end 880 of thenut 876 can include a recessed portion 884 configured to receive anoutwardly projecting portion 886 of the housing 814.

To assemble the grasper tool 800, the threaded portion 872 of the pushrod 804 can be introduced into the lumen defined by the proximal portion864 of the slide member 830. With the nut 876 secured to the projectingportion 886, the threaded portion 874 of the shaft portion 802 can beintroduced into the proximal portion 878. Thereafter, the shaft portion802 can be rotated to threadably engage the shaft portion 802 and thenut 876, and the push rod 804 can be rotated to threadably engage thepush rod 804 and the slide member 864. In some instances, if the graspertool 800 is secured to handle portion 102, the user can rotate the pushrod 804 by rotating the proximal end 146 of the proximal handle portion116. In some instances, the user can rotate the push rod 804 afterthreadably engaging the shaft portion 802 and the housing 814.

Although the above-mentioned grasper tool embodiments 200, 500, 600,700, 800 describe different connection features, one or more of theconnection features from any of the grasper tool embodiments 200, 500,600, 700, 800 can be combined with each other. In addition, any of theworking ends (e.g., graspers, dissectors, scissors, needle driver,insertion tip, or otherwise) discussed herein, can be used with anycombination of the connection features.

Clip Holder

FIGS. 9A-9E illustrate a clip holder 900 configured to retain one ormore clips or staples. Smooth metal clips or non-absorbable polymerclips such as Hem-o-lok® clips or any other absorbable or non-absorbablematerial could potentially be utilized in this clip holder. The clipholder 900 can be positioned within the abdomen for ready access whenclips 910 are necessary, especially during a vessel rupture or whenrequired to control a vessel or to reposition a peritoneal covering.

Various clip and staple designs having a first leg and a second leg canbe used with the clip holder, including, but not limited to theHem-o-lok®, LIGACLIP®, LAPRA-TY®, or Hemoclip®. For example, as shown inFIG. 9D, the clip 910 can include a first leg 918 connected to a secondleg 922. Each of the legs 918, 922 can be generally curved. The firstleg 918 can include a hooked ending 920 configured to engage an end 924of the second leg 922 when the clip 910 is applied to a vessel.

The clip holder 900 can include a shaft portion 902 and a cartridge 904.The shaft portion 902 and the cartridge 904 can be integrally formed orremovably secured with each other, for example, using any of theconnection mechanisms described herein. In some configurations, theshaft portion 902 can include a diameter of less than or equal to about3.0 mm, preferably less than or equal to about 2.5 mm, having a threadedregion to threadably engage the cartridge 904. The distal portion of thethreaded region can be configured to create significant friction toprevent turning of the cartridge 904 while attempting to load the clipapplier internally.

In some configurations, the cartridge 904 can hold clips 910 havingvarying shapes and sizes. For example, larger clips can be centrallypositioned, while smaller clips can be placed near the tapered ends ofthe cartridge. With this configuration, the surgeon only needs onecartridge 904 per surgery, and the surgeon can select the cartridge thatbest fits his predicted needs.

The cartridge 904 can have a diameter D sized to receive a clip 910 andpass through an incision formed in the umbilicus. For example, thediameter D of the cartridge 904 can be at least about 8 mm and/or lessthan or equal to about 25 mm, preferably between about 10 mm and about12 mm.

The cartridge can have a length L sized to receive a number of clips910. The length L of the cartridge 904 can be at least about 1 cm and/orless than or equal to about 15 cm. For example, the clip applier can beabout 3 cm long and hold 10-15 10 mm and six 5 mm clips. In anotherconfiguration, the clip cartridge 904 can be 5 cm long and hold 15-25 10mm clips and 10 5 mm clips. In another configuration, the cartridge canbe 15 cm long and hold 6-10 15 mm clips, 10-20 10 mm clips, and 10-20 5mm clips.

The cartridge 904 can include a generally cylindrical body havingrounded proximal and distal ends 906, 914. The cartridge 904 can includeone or more openings 908 configured to receive the one or more clips910. As shown in FIG. 9E, the one or more openings 908 can include ashape generally similar to the shape of the clips 910. The openings canbe configured such that the clips 910 can be inserted from a top portionof the cartridge 904. In order to reduce the weight of the clip holder900, the cartridge can include a number of openings formed within thecentral wall portions 930 of the cartridge 904.

Each clip 916 can rest on a support structure 926 within each opening908. The support structures 926 and openings 908 can be configured toallow partial deflection of the clips 916 toward the closedconfiguration. For example, the support structure 926 can be shaped topermit the clip legs 918, 922 to move toward the support structure 926without securing the clip ends 920, 924 to each other. In someinstances, the openings 908 permit the clips 910 to deflect at leastabout 20 degrees and/or less than or equal to about 30 degrees. Inanother configuration, the deflection could be at least 10 degreesand/or less than or equal to about 20 degrees. In another configurationthis deflection could be at least about 30 degrees and/or less than orequal to about 40 degrees.

The clip holder can include one or more side inserts 912 configured toretain the clips 910, preferably two side inserts 912. The side inserts912 can be integrally or separately formed with the cartridge 904. Ifthe slide inserts 912 and the cartridge 904 are separately formed, thesidewalls of the cartridge 904 can include one or more slits configuredto receive the side inserts 912. Each slide insert 912 can include aportion extending into each opening 908 and/or a groove or other openingconfigured to receive the clip 910. In some instances, the clips 910 canbe biased to an opened configuration and press against the side inserts912.

The clip holder cartridge 904 can be disposable or reusable. To load thecartridge, a clip applier can be used to grab a clip 910 and move theclip 910 partially toward the closed configuration. In this partiallyclosed configuration, the clip 910 can be inserted into a clip opening912. Once the clip 910 is released from the clip applier tool, the clip910 can rest on the support structure 926 and open until the legs 918,922 push against the side insert. The clip applier can include jawmembers such as those shown in FIG. 2G.

To remove the clip 910, the clip applier can be used to grab a clip 910and move the clip partially toward the closed configuration. In thispartially closed configuration, the clip 910 can be removed from theclip opening 912 and deployed in the patient anatomy as desired.

Suction Tools

FIG. 10 illustrates a suction tool 1000 having a suction connector 1002,a suction end 1004, and a suction shaft 1006 extending from the suctionconnector 1002 to the suction end 1004. The suction connector 1002 canremovably secure the suction tool 1000 to a source of suction. Forexample, the suction connector 1002 can define a cavity for receiving adistal portion of the suction source, and a clip 1016 can secure thesuction tool 1000 to the suction source. Various clip designs aredescribed in connection with FIGS. 13A-13J.

In some instances, the surgical tool 1000 can include a ferruleconfigured to facilitate a friction fit between the suction connector1002 and the source of suction. The ferrule (not shown) can be securedto the suction connector 1002 (e.g., by welding, gluing, or otherwise)or be integrally formed with the suction connector 1002.

The suction connector 1002 can include a proximal end 1010 and a distalend 1012. The proximal end 1010 can include an annular projectingportion and/or an outer surface of the distal end 1012 can include atapered region. The distal end 1012 can be configured to receive atleast a portion of the suction shaft 1006.

A distal portion of the suction shaft 1006 can connect to the suctionend 1004. The suction shaft 1006 can include a diameter sized toincrease the flow rate, while minimizing the appearance of scars. Forexample, the shaft can include a diameter of less than or equal to about3 mm, preferably about 2.5 mm.

FIGS. 11A-11D illustrate various views of a suction end 1104. Thesuction end 1104 can include a suction tip 1142 configured to house oneor more components of the suction end 1104. For example, the suction tip1142 can be secured to the shaft 1106 using one or more of a fastener1132, a ferrule 1134, an inner gasket 1136, a funnel 1138, and/or anouter gasket 1140.

The suction tip 1142 can have a length of at least about 1 cm and/orless than or equal to about 5 cm and a diameter of less than or equal toabout 1 cm. In some configurations, the suction tip 1142 can include anumber of apertures, including one or more apertures 1144 a at a distalface of the suction tip 1142 and/or one or more apertures 1144 b along asidewall portion of the suction tip 1142. The apertures 1144 a, 1144 bcan be spaced apart and sized to control flow. For instance, the suctiontip 1142 can include six evenly spaced lateral apertures 1144 b and/orfour evenly spaced distal apertures 1144 a. The distal apertures 1144 acan have a larger diameter than the lateral apertures 1144 b.

The apertures 1144 a, 1144 b and suction shaft 1006 can be configured topermit a flow rate of at least about 200 cc/minutes and/or less than orequal to about 1000 cc/min, for example, for example, between about 500cc/min to about 1000 cc/min or between about 800 cc/min and about 1000cc/min.

As shown in FIGS. 11C-11D, the ferrule 1134 can be disposed along adistal portion of the shaft 1006, and the inner gasket 1136 can bedisposed along the distal portion of the shaft 1006 and adjacent to adistal end of the ferrule 1134. The ferrule 1134 can be configured tofacilitate a friction fit between the fastener 1132 and the suctionshaft 1106 and/or between the funnel 1136 and the suction shaft 1106. Insome instances, the ferrule 1134 can be similar to the ferrule 212 orthe ferrule 212 a. For example, the ferrule 1134 can be generallytapered in a distal direction.

The funnel 1138 can include a proximal portion and a distal portion. Theproximal portion can be secured over at least a portion of the ferrule1134 and the inner gasket 1136, while the outer gasket 1140 can secure aproximal portion of the funnel 1138 to the suction tip 1142. The distalportion of the funnel 1138 can define a lumen sized to receive a distalend of the suction shaft 1106. In some configurations, the distal faceof the funnel 1138 can include a recessed portion for receiving aproximal end of a valve.

The fastener 1132 can include a proximal portion and a distal portion.The proximal portion of the fastener 1132 can remain external to thesuction tip 1142. In some configurations, a proximal end of the fastener1132 and/or a proximal end of the suction tip 1142 can include a numberof chamfer cuts to facilitate a connection between the differentcomponents. The distal portion of the fastener 1132 can define a cavityconfigured to receive at least a portion of the ferrule 1134 and/or thefunnel 1138. As shown in FIGS. 11C-11D, the distal portion of thefastener 1132 can be disposed between the suction tip 1142 and theproximal portion of the funnel.

During surgery, when the suction source is turned off, fluid stored inthe shaft 1106 can often flow back out of the suction tip 1142. In thesescenarios, it can be difficult to discern whether the outflow of fluidis from the suction tool 1100 or a vessel rupture. Accordingly, it canbe desirable to incorporate a check valve into the suction end 1104. Forexample, as shown in FIGS. 11C-11D, it can be desirable to include aball check valve 1150 having a spring 1148 and a ball 1146. As shown inFIG. 11C, when fluid is not flowing proximally, the spring 1148 biasesthe ball 1146 to a closed configuration such that fluid cannot flowdistally out of the suction tip 1142. When a source of suction is turnedon and fluid moves proximally through the suction end 1104, the fluidpushes the ball proximally to compress the spring, so fluid can flowpast the valve 1150.

FIGS. 12A-12D illustrate a suction end 1204 similar to the suction end1104. Numerical references to similar components are the same aspreviously described, except that the references are in the 1200sinstead of the 1100s.

The suction end 1204 extends distally from a distal end of a suctionshaft 1206. In some configurations, the suction shaft 1206 can have adiameter of less than or equal to about 3.0 mm, preferably less than orequal to about 2.5 mm. A distal portion of the suction shaft 1206 caninclude a threaded region 1258 configured to threadably engage thefastener 1232. In some configurations at least a portion of the fastener1232, can include a threaded region 1206 configured to threadably engagethe suction tip 1242.

The suction tip 1242 can include a number of apertures 1244 a, 1244 bthat can take on various configurations. For example, the suction tip1242 can include an aperture configuration similar to the suction tip1142. In some configurations, the suction tip 1242 can include betweenabout four and nine apertures 1244 a and/or between about six andfifteen apertures 1244 b depending on the desired flow rate. As shown inFIG. 12B, the suction tip 1242 can include a center aperture 1244 asurrounded by four evenly spaced apertures 1244 a. In some instances,the suction tip can include a number of indentations 1246.

As discussed above, it can be desirable to include a one-way valve toprevent an outflow of fluid through the suction tool and out of thesuction end 1204. As shown in FIGS. 12C-12D, the one-way valve can be aduckbill valve 1254 having a proximal portion 1256 and a distal portion1252. The proximal portion 1256 of the valve 1254 can be disposed withina cavity defined by the distal portion of the fastener 1232, and/or thedistal portion 1232 can include an outwardly projecting annular rim 1252positioned between the distal end of the fastener 1232 and a distal faceof the suction tip 1242. The duckbill valve 1254 can be configured toprevent the outflow of fluid from the suction end 1204, but permit theproximal flow of fluid when the source of suction is turned on.

Although the above-mentioned suction end embodiments 1104, 1204 describedifferent features, one or more of the features from either of thesuction end embodiments 1104, 1204 can be combined with each other.

FIGS. 13A-13J illustrate various clips that can be used to secure thesuction connector to the suction source and/or to secure the suction endto the suction shaft, in addition to or in alternative to the use of thefastener described above. These clip mechanisms can also be used withany of the surgical tools described herein to add an additional level ofsafety to ensure that the tips of these instruments do not fall offinside the patient. Although both configurations are possible, the clipswill be discussed in connection with connecting the suction end to thesuction shaft. Any of the clips described herein can be used alone or inconnection with the fastener 1132 and/or or threaded portion 1258described above.

As shown in FIGS. 13A and 13B, the suction end 1316 can include a numberof rods, for example, three rods, 1312 a, 1312 b, 1312 c extendingthrough the suction end. The clip 1300 can be positioned to secure thesuction shaft 1314 to the rods 1312 a, 1312 b, 1312 c, and thus thesuction end 1316. The clip 1300 can be positioned generally transverseto a longitudinal axis of the suction source 1314.

As shown in FIGS. 13A-13B, the clip 1300 can include two leg portions1306 defining a cavity having a first opening portion 1302, a secondopening portion 1303, and/or a third opening portion 1304. The firstopening portion 1302 can have an elongated shape with a width generallycorresponding to a diameter of the rod 1312 a to prevent the suction end1306 from falling off. In some instances, the width can be less than orequal to about 1 cm, or less than or equal to about 0.5 cm. The secondopening portion 1303 can be sized to receive a distal portion 1310 ofthe suction source 1314. The third opening portion 1304 can be largerthan the first opening portion 1302 and can be sized to receive thedistal portion 1310 of the suction source 1314 and at least two rods1312 b, 1312 c. The clip 1300 can include a metal material that issufficiently thick to provide a spring mechanism to lock the pins intoplace.

The clip 1300 can move from an opened configuration (FIG. 13A) to theclosed configuration (FIG. 13B) by applying a downward force on an uppersurface 1308 of the clip 1300. When the clip 1300 is in the openedconfiguration (FIG. 13A), at least a portion of 1312 a is positionedwithin the second opening portion 1303, while the distal portion 1310 ofthe suction source 1314 and at least two rods 1312 b, 1312 c arepositioned within the third opening portion 1304. In the closedconfiguration (FIG. 13B), at least a portion of the distal end 1310 ofthe suction source 1306 is positioned within the second opening portion1303, while the at least two rods 1312 b, 1312 c are positioned in anupper portion of the third opening portion 1304.

FIGS. 13C-13D illustrate a c-clip 1320 having a generally roundedconfiguration and capable of moving between an opened configuration(FIG. 13C) and a closed configuration (FIG. 13D). The c-clip can includea first rounded portion 1322 having a radius that is smaller than theradius formed by a second rounded portion 1328. The second roundedportion 1328 can be sized to receive at least the suction shaft 1310.The first rounded portion 1322 can have a diameter that is less than orequal to about half the diameter of the suction end 1316.

The suction end 1316 can include a recess 1326 configured to receive theclip 1320. As shown in FIG. 13D, when the c-clip 1320 enters the recess1326, the clip 1320 can secure the suction end 1316 to the suction shaft1310. For example, the c-clip 1320 can be biased inward to secure thesuction shaft 1320 to the suction end 1316. In some instances, thesuction shaft 1310 can either include a notched portion for receivingthe first rounded portion 1322 or the suction shaft 1310 can beflexible.

FIGS. 13E-13F illustrate a leaf spring 1340 for securing the suction end1316 to the suction shaft 1310. The leap spring 1340 can include a bodyportion 1342 having an upper end 1343 and a lower end 1345. The bodyportion 1342 can define an opening 1346 through which the suction shaft1310 extends. As shown in FIG. 13F, the leaf spring 1340 can include aprojecting portion 1344 extending along an axis generally perpendicularto the body portion 1342 and secured to the suction end 1316. Theprojecting portion 1344 can remain fixed, while the body portion 1342moves between an upper position (shown in FIGS. 13E-13F) and a lowerposition along an axis generally transverse to the longitudinal axis ofthe suction end 1316. In some instances, the leaf spring can be biasedto the upper position.

The suction end 1316 can include a recess 1348 configured to receive theleaf spring 1340. Downward movement of the leaf spring 1340 into therecess portion 1348 permits the user to insert the suction shaft 1310into the suction end 1316 or remove the shaft 1310 from the suction end1316. After the suction shaft 1310 is introduced through the suction end1316, the leaf spring 1340 can be released. Once released, the leafspring 1340 can move back to the upper position to secure the suctionshaft 1310 to the suction end 1346. In some instances, as shown in FIG.13F, the suction shaft 1310 can include a notched portion 1341 or aregion having a reduced diameter for receiving the lower end 1345 of theleaf spring 1340. In other examples, the suction shaft 1310 can beflexible.

FIGS. 13G and 13H illustrate a wedge spread 1350 for securing thesuction end 1316 to the suction shaft 1310. The suction end 1316 candefine a recessed portion 1358 for receiving the wedge spread 1350. Thewedge spread 1350 is capable of moving within the recessed portion 1358,between an opened configuration (FIG. 13G) and a closed configuration(FIG. 13H). In some instances, the wedge spread 1350 can be biasedtoward the closed configuration.

As shown in FIGS. 13G and 13H, the suction 1316 can include a number ofrods 1352, for example, four rods, to help secure the suction end 1316to the suction shaft 1310. The rods 1352 can control the shape of thewedge spread 1350.

The wedge spread 1350 can include an upper body portion 1354 and a lowerbody portion 1356. The upper body portion 1354 can be sized to receiveat least the suction shaft 1310. As shown in FIGS. 13G, the upper bodyportion can include curved portions 1354 a, 1354 b configured to abutthe rods 1352 a, 1352 b when the wedge spread 1350 is in the openedconfiguration. The rods 1352 a, 1352 b can limit movement of the wedgespread 1350 and

The lower body portion 1356 can include curved portions 1356 c, 1356 dthat curve inward toward the center of the wedge spread 1350 and contactrods 1352 c, 1352 d. As the wedge spread moves from the closedconfiguration (FIG. 13H) to the opened configuration (FIG. 13G), therods 1352 c, 1352 b can cause the lower curved portions 1352 c, 1352 dto move apart and increase a width of the upper body portion 1354.

Downward movement of the wedge spread 1350 can move the wedge spread1350 to the opened configuration. In the opened configuration, thesuction shaft 1310 can be introduced into or removed from the suctionend 1316. When the wedge spread 1350 is released back to the closedconfiguration, the upper body portion 1354 can have a width that is lessthan or equal to the width of the suction shaft 1310. The suction shaft1310 can be flexible or can include notched portions for receiving thewedge spread 1350. In the closed configuration, the wedge spread 1350can limit movement of the suction shaft 1310.

FIGS. 13I-13J illustrate a G-clip 1360 having a generally roundedconfiguration and capable of moving between an opened configuration(FIG. 13I) and a closed configuration (FIG. 13J). The G-clip can includea first rounded portion 1364 having a radius that is smaller than theradius formed by a second rounded portion 1366. The first roundedportion 1364 can be configured to wrap around one or more rods 1362, forexample, two rods, as shown in FIGS. 13I and 13J. The second roundedportion 1366 can be sized to receive at least the suction shaft 1310.

The suction end 1316 can include a recess 1368 configured to receive theclip 1360. As shown in FIG. 13D, when the G-clip 1360 enters the recess1368, the clip 1360 can secure the suction end 1316 to the suction shaft1310. The suction shaft 1310 can either include a notched portion forreceiving the first rounded portion 1322 or the suction shaft can beflexible.

FIG. 17 illustrates a diffusion tip 1700 positioned over a suction end(e.g., 1104, 1204, or otherwise). The diffusion tip 1700 can beremovably positioned over the suction end or permanently secured (e.g.,welded, glued, etc.). The diffusion tip 1700 can include a fine meshscreen 1704 that is shaped to be atraumatic and rigid enough forcontrolled movement, both forward motion and retraction. For example, asuction tool having the diffusion tip 1700 can require at least about 5lb. of force. The mesh can be constructed from a non-kinking material,such as nitinol.

The mesh pores can sufficiently large to permit the suction of fatwithout clogging the pores, while still being small enough to controlflow rate. The mesh pores prevent clots from moving upstream through theshaft portion. Any clots small enough to pass through the mesh poreswill be able to pass through the shaft portion. As mentioned above, theflow rate can be at least about 200 cc/min and/or less than or equal toabout 1000 cc/min, preferably at least about 500 cc/min or at leastabout 800 cc/min.

Electrocautery Tools

FIGS. 14A-14E illustrate a surgical tool 1400 having a hook electrodeassembly 1404 for performing electrocautery during minimally invasivesurgery, for example, for cauterizing or cutting. The hook electrodeassembly 1404 can mate with a distal end of a shaft portion 1402 using,for example, a simple threaded mechanism or using any of the connectionfeatures described herein. Similar to other devices described herein,the shaft portion 1402 can include a diameter of less than or equal toabout 2.5 mm, and preferably about 2.3 mm.

The shaft portion 1402 can include a central core 1412 capable ofconducting electrical charge. At least a portion of the central core1412 can be surrounded by an insulation casing 1414.

A distal portion 1408 of the core 1412 may not be surrounded by theinsulation casing 1414. The distal portion 1408 can be configured tomate with a recess portion 1444 within the body portion 1406. In someembodiments, the shaft material can include, but is not limited to, ametal, such as stainless steel, or a non-conducting polymer, such ascarbon fiber or PTFE, to provide the shaft with sufficient stiffness.

The hook electrode assembly 1404 can include a body portion 1406connected to an electrode 1426. The body portion 1406 can include a core1430 capable of conducting an electrical charge from the core 1412 tothe electrode 1426. The core 1430 can generally be surrounded by aninsulation casing 1428. In some instances, the body portion 1604 caninclude a proximal section 1422 having a region of reduced diameter.

The electrode 1426 can include a material capable of conducting anelectrical charge. The electrode 1426 can be integrally or separatelyformed from the body portion core 1430. As shown in FIGS. 14A-14E, theelectrode 1426 can have a hook shape. For example, the distal end 1420of the electrode 1426 can be positioned generally perpendicular to acentral axis of the surgical tool 1400. In some configurations, theinsulation casing 1428 can surround at least a portion of the electrode1426.

Camera

It can be desirable to insert a camera through one of the incisions, forexample, through an incision positioned in the umbilicus region. Thecamera can be useful for visualizing the surgical procedure. FIGS.15A-15B illustrate perspective views of a camera 1500 capable ofinsertion through an umbilicus opening. The camera 1500 can include acamera body 1502 connected to a flexible cord 1516 and/or a control rod1508. During surgery, the flexible cord 1516 can extend through theumbilicus opening, while the control rod 1508 can extend through theumbilicus opening or any opening that will provide optimal visualizationof the surgical site. In some instances, the control rod 1508 can have adiameter of less than or equal to about 3.0 mm, less than or equal toabout 2.5 mm, or less than or equal to about 2.0 mm.

In general, the camera body 1502 can be generally cylindrical andinclude a proximal end 1504 and a distal end 1502. The camera body 1502can be sized to be introduced through an opening in the umbilicus. Forexample, the camera body 1502 can have a length between about 1 cm andabout 8 cm, and the camera body 1502 can include a diameter betweenabout 1 cm and about 2.5 cm, preferably about 1 cm. One or more imagesensors 1508 and/or lights 1510, 1512 can be disposed at the distal end1506 of the camera body 1502. The images sensors 1508 can besufficiently spaced apart to provide a better three-dimensional imagethan current robotic or laparoscopic devices, while still capable ofbeing introduced through an incision that will not affect the cosmesis.

The one or more image sensors 1508 can include CMOS or CCD chips. Insome configurations, the camera 1500 can include two image sensors 1508positioned along the distal end 1506 of the camera body 1502. In orderto improve three-dimensional visualization of the target anatomy, theimage sensors 1508 can be positioned as far apart from each other aspossible. For example, as shown in FIG. 15A, one CCD chip 1508 can bepositioned at one distal edge of the camera body 1502 and the other CCDchip 1508 can be positioned at the opposite distal edge.

The one or more lights 1510, 1512 can include, for example, an LED 1512and/or a xenon fiber optic light 1510. Various light configurations canbe used. For example, the lights 1510, 1512 can be disposed at a centerof the distal end 1506 of the camera body 1502 and/or surround aperiphery of the distal end 1506 of the camera body 1502. In otherconfigurations, a number of lights 1510, 1512 can surround each imagesensor 1508.

As shown in FIG. 15A, the camera 1500 can include two xenon fiber opticlights 1510 centrally located at the distal end 1506 of the camera body1502. In some instances, the xenon lights 1510 are disposed along anaxis generally perpendicular to the axis along which the image sensors1508 are positioned. The back end of the camera 1500 can include a plugfor mating with the xenon fiber optic light source.

In some instances, the camera 1500 can include one or more LEDs 1512. Asshown in FIG. 15A, a number of LEDs 1512, for example, eight LEDs 1512,can be disposed along a periphery of the distal end 1506 of the camerabody 1502. In some scenarios, the LEDs can emit the same color.Alternatively, different subsets of LEDs 1512 can emit different colors,including, but not limited to, white, warm white, cool white, red,green, and blue. Utilizing different colored LEDs 1512 can help accentdifferent anatomical features. For instance, when targeting a certainanatomy, the surgeon can activate one subset of the LEDs emitting afirst color, and when targeting another anatomy, the surgeon canactivate a different subset of LEDs emitting a second color.

The flexible cord 1516 can extend from the proximal end 1504 of thecamera body 1502 and surround the connections between the camera body1502 and a power source. In some instances, the flexible cord 1516 cansurround the connection between the image sensors 1508 and athree-dimensional camera plug-in. The three-dimensional camera plug-incan connect to a three-dimensional viewing screen worn by the surgeon.In some instances, the flexible cord 1516 can surround the connectionsbetween the lights 1510, 1512 and their respective light sources. Asshown in FIG. 15E, the camera 1500 can include multiple flexible cords1516, 1516′.

The camera body 1502 can removably connect to the control rod 1518. Forexample, the camera body 1512 can define one or more shaft lumens 1514configured to receive the control rod 1518. In some instances, thecamera body 1502 can threadably engage the control rod 1518. Althoughnot shown, in some configurations, the control rod can permit flexibleangulation of the camera. For example, the control rod 1518 can beflexible (e.g., mechanically-actuated, formed from a rigid material withslits, formed from a flexible material, or otherwise). If the controlrod 1518 is mechanically actuated, the control rod 1518 can include anactuation member, such as a pull wire configured to bend the control rod1518.

Due to the positioning of certain anatomical features, such as thekidneys, relative to the umbilicus, it can be difficult to maneuverexisting camera devices to visualize those anatomical features. To helpmaintain the correct angle of the camera body 1502, each lumen 1514 a,1514 b, 1514 c can be positioned at a different angle such that thecontrol rod 1518 can maintain the camera body 1502 at a specific angle.For example, as shown in FIG. 15B, the camera body 1502 can include afirst lumen 1514 a substantially collinear with the camera body. Asecond lumen 1514 b can be disposed at a 30 degree upward angle, and athird lumen 1514 c can be disposed at a 30 degree downward angle. Thelumens 1514 a, 1514 b, 1514 c can be disposed at other angles and/or thecamera body 1502 can include additional lumens.

Ports

A standard port, as shown in FIG. 16A, generally has a fixed length.However, as mentioned above, the thickness of the abdominal wall canvary between about 1 mm and about 20 cm. Accordingly, it can bedesirable to have a single port capable of adjusting to the thickness ofa particular patient's abdominal wall. In addition, it can be desirableto adjust the length of the port to maximize the usable length of thesurgical tool. The usable length of the tool is only as long as theportion of the tool extending past an inner edge of the port when theport is introduced into the patient. As such, a longer than necessaryport can shorten the usable length of the surgical tool and disrupt thesurgical tool's range of motion.

FIG. 16C illustrates an adjustable port 1600 and an adjustment tool 1602configured to adjust a length of the port 1600 between a minimum lengthand a maximum length. In some instances, the length of the adjustableport 1600 can vary between about 4 cm to about 7 cm. In some instances,the length of the adjustable port 1500 can vary between about 4 cm andabout 14 cm.

The adjustable port 1600 can include an inner member 1622 slidablydisposed within the outer member 1604. The outer member 1604 can includea generally tubular structure having a length substantially equal to aminimum length of the adjustable port. The minimum length can be lessthan or equal to about 8 cm, or less than or equal to about 4 cm.

The outer member 1604 can also include a first end 1606 and a second end1608. The first end 1606 can include an outwardly projecting annular rim1610 that can be either rigid or flexible. During the procedure, the rim1610 can be positioned external to the patient and against the abdominalwall, as shown in FIGS. 16H-16J.

In some instances, an inner surface of the outer member 1602 can includea threaded region 1612. The threaded region 1612 can extend along amajority of a length of the outer member 1602, along substantially theentire length of the outer member 1602, or along the entire length ofthe outer member 1602.

The inner member 1622 can be generally tubular and include a first end1614 and a second end 1616. The first end 1614 can include a number ofmating features 1632 (e.g., projections, nubs, grooves, openings, orotherwise) configured to engage the adjustment tool 1602.

The length of the inner member 1622 can be less than or equal to aboutthe length of the outer member 1604 and depend on the desired maximumlength of the adjustable port 1600. For example, the maximum length canbe less than or equal to about the length of the outer member plus thelength of the inner member. The maximum length can be between about 7and about 14 cm.

In some instances, at least a portion of an outer surface of the innermember 1622 can include a threaded region 1618 configured to threadablyengage the threaded region 1612 of the outer member 1604. For example,the threaded region 1618 can be positioned near the first end 1614. Inother examples, the threaded region 1618 can extend along a majority ofa length of the inner member 1622, along substantially the entire lengthof the inner member 1622, or along the entire length of the inner member1622.

FIG. 16C illustrates an adjustment tool 1602. The adjustment tool 1602can be generally tubular and include a first end 1624 and a second end1626. The first end 1624 can include an outwardly extending annular rim1628. The diameter of the rim 1628 can be larger than an inner diameterof the outer member 1604, such that the first end 1624 of the tool 1602does not extend into a lumen defined by the outer member 1604. The outerdiameter and inner diameter of the remaining portion of the tool 1602can generally correspond to the outer and inner diameters of the innermember 1622.

The second end 1626 can include a number of attachment features 1629(e.g., projections, nubs, grooves, openings, or otherwise) correspondingto the mating features 1632 of the inner member 1622. In some instances,the adjustment tool can include a gap 1630 extending along a length ofthe tool 1602.

FIGS. 16H-16J illustrate the port 1600 having different lengthsdepending on the thickness of the abdominal wall 1634. As shown in FIG.16H, the first and second ends of the inner member 1614, 1616 aregenerally aligned with the first and second ends of the outer member1606, 1608 such that the port is at its minimum length. For a thickerabdominal wall 1634 such as those shown in FIGS. 16I and 16J, theadjustment tool 1602 can be used to adjust the maximum length shown inFIG. 16J. In some instances, the port 1600 can be lengthened until aproximal end of the inner member threaded region 1618 reaches the distalend of the threaded region 1612.

As shown in FIGS. 16E-16G, the adjustment tool 1602 can be used torotate the inner member 1622 relative to the outer member 1604 to adjustthe length of the port 1600. The adjustment tool 1602 can be used toboth decrease and increase the length of the port 1600. For example, theattachment features 1629 of the adjustment tool 1602 can mate with themating features 1632 of the inner member 1604 such that rotation of theadjustment tool 1602 can rotate the inner member 1622 relative to theouter member 1604. Once the port 1600 is at a desirable length, theadjustment tool 1602 can be removed and the surgical tools can beintroduced through the port.

In some configurations, a face plate 1636 can engage an annular rim 1628of the adjustable port. The face plate 1636 can be configured to preventthe escape of fluids (e.g., insufflation gas) from the abdomen whensurgical tools are introduced through the port 1600. For example, theplate 1636 can include a number of flexible flaps 1638 capable offorming a seal around a surgical tool extending through the port 1600.In some instances, the plate 1636 can include a one-way valve configuredto prevent the escape of fluids.

In some configurations, the plate 1636 can be adapted for theintroduction of the camera 1500 described herein. For example, the plate1636 can include an opening specifically designed for the flexible cord1516 to prevent the escape of fluids around the cord 1516. The openingcan be offset from the center of the plate 1636. The plate 1636 can beadapted for use with any port, including, but not limited to theadjustable port 1600 or the GelPort®.

Insertion Tip

As mentioned above, the minimally invasive surgical procedure caninclude the use of an insertion tip to create one or more openings inthe abdominal wall. The insertion tip can be secured to the handleportion using any of the connection features described herein. Forexample, as shown in FIGS. 18A-18C, the insertion tip 1800 can include atip portion 1888 having a sharpened distal tip capable of forming anincision. The tip portion 1888 can define a lumen capable of engagingthe shaft portion 1802 and/or push rod 1804. For example, the lumen canhave a varying diameter, a reduced diameter portion capable ofthreadably engaging a threaded portion 1872 of the push rod 1804 and alarger diameter portion capable of threadably engaging a threadedportion 1874 of the shaft portion 1802. The tip portion 1888 can includea length between about 5 mm and about 12 mm, preferably between about 10mm to 11 mm.

Although not shown, the tip portion 1888 can include a proximal tubularportion defining the lumen for engaging the shaft portion and/or pushrod. In this configuration, the tip portion 1888 can include a distaltip portion having a sharpened blade for forming incisions.

In use, the insertion tip 1800 can be secured to the shaft portion andthen used to form the incision. Once the incision has been created, theentire insertion tip can be removed and the insertion tip can bereplaced with a different working end. Alternatively, the insertion tipcan be introduced through an umbilicus opening and back out of theabdomen. Thereafter, the insertion tip can be replaced with a differentworking end.

In some scenarios, it may desirable for the insertion tip to include aretractable tip portion or include a retractable sheath (not shown).These retractable safety tips can prevent injury when the tip is not inuse and shield the tip portion when the tip portion is inside theabdomen.

With the retractable tip portion, similar to the insertion tip 1800,these retractable safety tips can be secured to the shaft portion usingthe same threaded features. The tip portion can define a lumen extendingthrough at least a distal portion of the tip portion. The lumen can beconfigured to receive a spring-loaded shield or otherwise retractableshield. At least a distal portion of the shield can extend outward fromthe distal end of the tip portion to protect the sharpened tip of thetip portion. During use, when pressure is applied to the distal tip ofthe tip portion (e.g., when forming the incision), the shield canretract into the lumen to release the sharpened tip. After the sharpenedtip forms the incision and enters the abdomen, the shield can movedistally to cover the sharpened tip.

With the retractable sheath configuration, the tip portion can connectto a retractable sheath portion configured to retract at least partiallyover the shaft portion when pressure is applied to the distal tip of thesheath (e.g., when forming incision). When the sheath retracts, theinsertion tip can form the incision.

As used herein, the relative terms “proximal” and “distal” shall bedefined from the perspective of the surgical tool. Thus, proximal refersto the direction of the handle portion of the surgical tool and distalrefers to the direction of the working end.

Conditional language, such as “can,” “could,” “might,” or “may,” unlessspecifically stated otherwise, or otherwise understood within thecontext as used, is generally intended to convey that certainembodiments include, while other embodiments do not include, certainfeatures, elements, and/or steps. Thus, such conditional language is notgenerally intended to imply that features, elements, and/or steps are inany way required for one or more embodiments.

The terms “approximately,” “about,” and “substantially” as used hereinrepresent an amount close to the stated amount that still performs adesired function or achieves a desired result. For example, the terms“approximately”, “about”, and “substantially” may refer to an amountthat is within less than 10% of, within less than 5% of, within lessthan 1% of, within less than 0.1% of, and within less than 0.01% of thestated amount.

Some embodiments have been described in connection with the accompanyingdrawings. However, it should be understood that the figures are notdrawn to scale. Distances, angles, etc. are merely illustrative and donot necessarily bear an exact relationship to actual dimensions andlayout of the devices illustrated. Components can be added, removed,and/or rearranged. Further, the disclosure herein of any particularfeature, aspect, method, property, characteristic, quality, attribute,element, or the like in connection with various embodiments can be usedin all other embodiments set forth herein. Additionally, it will berecognized that any methods described herein may be practiced using anydevice suitable for performing the recited steps.

For purposes of this disclosure, certain aspects, advantages, and novelfeatures are described herein. It is to be understood that notnecessarily all such advantages may be achieved in accordance with anyparticular embodiment. Thus, for example, those skilled in the art willrecognize that the disclosure may be embodied or carried out in a mannerthat achieves one advantage or a group of advantages as taught hereinwithout necessarily achieving other advantages as may be taught orsuggested herein.

This present application is a continuation of U.S. patent applicationSer. No. 14/639,551, filed Mar. 5, 2015, titled “MINIMALLY INVASIVESURGICAL DEVICES AND METHODS,” which is a continuation of U.S. patentapplication Ser. No. 14/250,244, filed Apr. 10, 2014, titled “MINIMALLYINVASIVE SURGICAL DEVICES AND METHODS,” and which claims priority andbenefit under 35 U.S.C. § 119(e) to U.S. Provisional Application No.61/811,092, filed Apr. 11, 2013, titled “MINIMALLY INVASIVE SURGICALDEVICES AND METHODS,” each of which is hereby incorporated by referenceherein in its entirety.

Various embodiments have been disclosed above. These various embodimentsmay be used alone or in combination, and various changes to individualfeatures of the embodiments may be altered, without departing from thescope of the invention. For example, the order of various method stepsmay in some instances be changed, and/or one or more optional featuresmay be added to or eliminated from a described device. Therefore, thedescription of the embodiments provided above should not be interpretedas unduly limiting the scope of the invention as it is set forth in theclaims.

What is claimed is:
 1. A scarless surgical tool comprising: a handleportion comprising: a central shaft; and a plurality of stabilizingshafts surrounding the central shaft, the plurality of stabilizingshafts being positioned with respect to the central shaft such that theplurality of stabilizing shafts puncture skin prior to or simultaneouslywith entrance of the central shaft through the punctured skin; and aworking end configured to be removably secured to the handle portion,the working end comprising: a securing member at a proximal portion ofthe working end, the securing member configured to be secured to theplurality of stabilizing shafts; a housing portion configured to receivea distal portion of the central shaft; and a tool portion at a distalportion of the working end, the central shaft configured to controlmovement of the tool portion when the working end is secured to thehandle portion.
 2. The scarless surgical tool of claim 1, wherein thesecuring member surrounds the central shaft when the securing member issecured to the plurality of stabilizing shafts.
 3. The scarless surgicaltool of claim 1, wherein each of the plurality of stabilizing shafts hasa diameter of less than or equal to about 1.0 mm.
 4. The scarlesssurgical tool of claim 1, wherein each of the stabilizing shafts has asharpened distal tip capable of forming an opening.
 5. The scarlesssurgical tool of claim 1, wherein a length of the central shaft islonger than a length of each of the plurality of stabilizing shafts. 6.The scarless surgical tool of claim 1, wherein the securing membercomprises a locking mechanism configured to fix the position of theplurality of stabilizing shafts relative to each other.
 7. The scarlesssurgical tool of claim 6, wherein the locking mechanism comprises aretaining ring configured to form a friction fit with the securingmember.
 8. The scarless surgical tool of claim 1, wherein the workingend further comprises a slide member positioned in the housing portion,the slide member configured to control movement of the tool portion. 9.The scarless surgical tool of claim 8, wherein the slide member isconfigured to receive the distal portion of the central shaft, such thatthe slide member is positioned radially between the central shaft andthe housing.
 10. The scarless surgical tool of claim 1, wherein the toolportion is graspers, and wherein axial movement of the central shaft canmove the graspers between an open configuration and a closedconfiguration.
 11. A method of assembling a scarless surgical toolcomprising: securing a proximal portion of a working end to a handleportion, the handle portion comprising a plurality of stabilizing shaftssurrounding a central shaft, the plurality of stabilizing shafts beingpositioned with respect to the central shaft such that the plurality ofstabilizing shafts puncture skin prior to or simultaneously withentrance of the central shaft through the punctured skin, the workingend comprising: a securing member at the proximal portion of the workingend; a housing portion extending from the securing member; and a toolportion at a distal portion of the working end; and positioning a distalportion of the central shaft in the housing portion of the working end,the central shaft configured to control movement of the tool portionwhen the working end is secured to the handle portion, wherein securingthe proximal portion of the working end to the handle portion comprisessecuring the securing member to the plurality of stabilizing shafts. 12.The method of claim 11, wherein the securing member surrounds thecentral shaft when the securing member is secured to the plurality ofstabilizing shafts.
 13. The method of claim 11, wherein each of theplurality of stabilizing shafts has a diameter of less than or equal toabout 1.0 mm.
 14. The method of claim 11, wherein each of thestabilizing shafts has a sharpened distal tip configured to form anopening in the skin.
 15. The method of claim 11, wherein a length of thecentral shaft is longer than a length of each of the plurality ofstabilizing shafts.
 16. The method of claim 11, wherein securing thesecuring member to the plurality of stabilizing shafts comprises alocking the position of the plurality of stabilizing shafts relative toeach other.
 17. The method of claim 16, wherein locking the position ofthe plurality of stabilizing shafts relative to each other comprisesforming a friction fit between a retaining ring and the securing member,the plurality of stabilizing shafts positioned radially between theretaining ring an outer periphery of the securing member.
 18. The methodof claim 11, wherein positioning the distal portion of the central shaftin the housing portion comprises positioning the central shaft in aslide member, such that the slide member is positioned radially betweenthe central shaft and the housing, the slide member configured tocontrol movement of the tool portion.
 19. The method of claim 11,wherein the tool portion is graspers, and wherein axial movement of thecentral shaft moves the graspers between an open configuration and aclosed configuration.